{
  "checkpoint": "/home/sudhir/rl_training/results/teacher/runs/20260913T082948Z_linear_aperture_teacher_seed42/checkpoints/model_500.pt",
  "checkpoint_sha256": "cbd76112d058344adf16888e9d4b5079420d701b5154d0531e1da279c4a66342",
  "scale": 1.0,
  "seeds": [
    1101
  ],
  "episodes_per_seed": 1,
  "num_envs": 1,
  "preset": {
    "randomization": {
      "enabled": true,
      "nominal_fraction": 0.1,
      "bottle_edge_margin_m": 0.05,
      "bottle_yaw_deg": 180.0,
      "table_xy_m": 0.15,
      "table_yaw_deg": 15,
      "robot_xy_m": 0.1,
      "robot_yaw_deg": 15,
      "initial_joint_deg": [
        15,
        10,
        10,
        15,
        15,
        30
      ],
      "initial_gripper_open_min": 0.85,
      "camera_xyz_m": 0,
      "camera_rotation_deg": 0,
      "camera_focal_fraction": 0,
      "camera_principal_px": [
        0,
        0
      ],
      "friction_scale": [
        0.7,
        1.3
      ],
      "bottle_mass_scale": [
        0.8,
        1.2
      ],
      "joint_damping_scale": [
        0.8,
        1.2
      ],
      "light_gain": [
        1,
        1
      ],
      "material_gain": [
        1,
        1
      ],
      "exposure_gain": [
        1,
        1
      ],
      "white_balance": [
        1,
        1
      ],
      "image_noise_std_255": 0
    },
    "dr_curriculum": {
      "enabled": true,
      "boundaries": [
        0,
        20000,
        50000,
        100000,
        200000
      ],
      "scales": [
        0.05,
        0.15,
        0.35,
        0.65,
        1.0
      ],
      "evaluation_scale": 1.0
    },
    "objective": {
      "lift_height_m": 0.1,
      "high_lift_height_m": 0.15,
      "hold_s": 2.0,
      "contact_force_n": 0.05,
      "max_hold_linear_speed": 0.15,
      "max_hold_angular_speed": 1.0,
      "max_penetration_m": 0.003,
      "hard_penetration_m": 0.02,
      "max_joint_speed": 1.57,
      "terminate_on_success": false,
      "contact_grace_s": 0.2,
      "capture_metrics": true
    },
    "goal": {
      "nominal_joint_pos": [
        -3.522548046633501,
        -1.1518142048840005,
        0.9810469344913387,
        -1.4231175467061197,
        -1.5491226335784967,
        -0.36253961360662956
      ],
      "half_width_m": [
        0.05,
        0.05,
        0.03
      ],
      "joint_spread_deg": [
        5.0,
        5.0,
        5.0,
        5.0,
        5.0,
        5.0
      ],
      "candidates": 16
    }
  },
  "nominal_fraction": 0,
  "filtering": "none",
  "video": true,
  "trace": false,
  "video_selection": "first complete world-0 episode of every listed seed; no outcome selection",
  "renderer": "native MuJoCo offscreen, same state task/controller; fragmented environment_visual scan hidden only in renderer copy",
  "reward_profile": "grasp-aperture-v3",
  "controller_overrides": {
    "max_dq": 0.02,
    "direction_preserving_dq": true,
    "target_period_substeps": 8
  },
  "seed": 1101,
  "world": 0,
  "outcome": "failure",
  "episode": {
    "success": 0.0,
    "high_success": 0.0,
    "max_clearance": 0.0004999637603759766,
    "best_hold_s": 0.0,
    "best_high_hold_s": 0.0,
    "ever_lifted": 0.0,
    "ever_dropped": 0.0,
    "ever_bad_contact": 1.0,
    "max_penetration": 0.003409147262573242,
    "max_joint_speed": 0.5550013780593872,
    "max_force_ratio": 1.0,
    "nonfinite": 0.0,
    "elapsed_s": 15.000000953674316,
    "physics_overflow_bits": 0,
    "final_goal_error_m": 0.5181732177734375,
    "initial_layout_footprint_overlap": 0.0,
    "return_": -11.681562423706055,
    "dr_scale": 1.0,
    "bilateral_fraction": 0.0,
    "world": 0,
    "bottle_local_xy": [
      -0.30519306659698486,
      0.054353296756744385
    ],
    "terminated": false,
    "timeout": true,
    "bottle_x_bin": 0,
    "bottle_y_bin": 1,
    "invalid": true,
    "seed": 1101
  },
  "frames": [
    {
      "t_s": 0.05,
      "clearance_m": -0.00034922361373901367,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42602232098579407,
      "action": [
        1.0,
        0.21846948564052582,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.316133499145508,
        -1.1723530292510986,
        1.0135986804962158,
        -1.5263453722000122,
        -1.5703117847442627,
        -0.22927755117416382,
        0.9777265191078186,
        0.6868975758552551,
        -0.010152339935302734,
        0.27510228753089905,
        0.05330172926187515,
        -0.9982541799545288,
        0.025452926754951477,
        -0.9922318458557129,
        -0.05581498146057129,
        -0.11117923259735107
      ],
      "bottle_position_world": [
        -0.20122456550598145,
        0.10018220543861389,
        0.837629497051239
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        7.100361835910007e-05,
        -1.4673878467874601e-05,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.1,
      "clearance_m": -0.0002561807632446289,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259994924068451,
      "action": [
        1.0,
        0.10737837851047516,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.31722092628479,
        -1.1606525182724,
        1.0008140802383423,
        -1.517029881477356,
        -1.5653104782104492,
        -0.22270478308200836,
        0.9899415373802185,
        0.6893912553787231,
        -0.009919491596519947,
        0.2725423276424408,
        0.04639703780412674,
        -0.9987600445747375,
        0.018063584342598915,
        -0.9933682680130005,
        -0.04803591966629028,
        -0.10446339845657349
      ],
      "bottle_position_world": [
        -0.20123344659805298,
        0.10018688440322876,
        0.8377164006233215
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        -2.6886755222221836e-05,
        -4.81437127746176e-05,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.15000000000000002,
      "clearance_m": -0.00024825334548950195,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259960651397705,
      "action": [
        1.0,
        0.24933572113513947,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3178651332855225,
        -1.148690938949585,
        0.9876781105995178,
        -1.5074191093444824,
        -1.5602174997329712,
        -0.2155659794807434,
        0.9938009977340698,
        0.6919025778770447,
        -0.009361484088003635,
        0.2699185013771057,
        0.03928180783987045,
        -0.999172568321228,
        0.010566470213234425,
        -0.994428813457489,
        -0.040126167237758636,
        -0.09747645258903503
      ],
      "bottle_position_world": [
        -0.20123447477817535,
        0.10018536448478699,
        0.8377246260643005
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        -2.257495725643821e-05,
        -6.638180639129132e-05,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.2,
      "clearance_m": -0.00025010108947753906,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599350214004517,
      "action": [
        1.0,
        0.3015638589859009,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3183348178863525,
        -1.1365073919296265,
        0.9742124676704407,
        -1.4975749254226685,
        -1.5550040006637573,
        -0.20819325745105743,
        0.9951363205909729,
        0.694432258605957,
        -0.008654212579131126,
        0.26725339889526367,
        0.03201374039053917,
        -0.9994832873344421,
        0.0029971059411764145,
        -0.9953969717025757,
        -0.032153621315956116,
        -0.09028621017932892
      ],
      "bottle_position_world": [
        -0.2012275755405426,
        0.10018644481897354,
        0.8377223014831543
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        1.7860636944533326e-05,
        -6.944952019694028e-06,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.25,
      "clearance_m": -0.00025397539138793945,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259924292564392,
      "action": [
        1.0,
        0.3200345039367676,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.318770170211792,
        -1.1240731477737427,
        0.9604089260101318,
        -1.48751699924469,
        -1.5496608018875122,
        -0.20072035491466522,
        0.9956492185592651,
        0.6969889402389526,
        -0.007893291302025318,
        0.2645319104194641,
        0.024582482874393463,
        -0.9996871948242188,
        -0.004633220378309488,
        -0.9962673783302307,
        -0.024114252999424934,
        -0.08288604021072388
      ],
      "bottle_position_world": [
        -0.20121267437934875,
        0.1001960039138794,
        0.8377189636230469
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        5.121509821037762e-05,
        0.0001711359655018896,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.30000000000000004,
      "clearance_m": -0.0002556443214416504,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599189281463623,
      "action": [
        1.0,
        0.32398390769958496,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3191635608673096,
        -1.112295389175415,
        0.9470027089118958,
        -1.4778846502304077,
        -1.544508934020996,
        -0.19364866614341736,
        0.9959075450897217,
        0.6994210481643677,
        -0.007137232460081577,
        0.26208066940307617,
        0.01747698150575161,
        -0.9997778534889221,
        -0.011808766983449459,
        -0.9969701766967773,
        -0.016530120745301247,
        -0.07601107656955719
      ],
      "bottle_position_world": [
        -0.20122462511062622,
        0.10018400102853775,
        0.8377170562744141
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        5.7310044212499633e-05,
        -2.827594016707735e-06,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.35000000000000003,
      "clearance_m": -0.0002587437629699707,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599403858184814,
      "action": [
        1.0,
        0.3309932351112366,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.319584369659424,
        -1.1001070737838745,
        0.9332187175750732,
        -1.4679806232452393,
        -1.53920316696167,
        -0.18647797405719757,
        0.9960088133811951,
        0.7019004821777344,
        -0.006367063149809837,
        0.2594766914844513,
        0.010154850780963898,
        -0.9997659921646118,
        -0.019105706363916397,
        -0.9975940585136414,
        -0.008818735368549824,
        -0.06876307725906372
      ],
      "bottle_position_world": [
        -0.20123136043548584,
        0.10017959773540497,
        0.8377137780189514
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        4.2038758692797273e-05,
        -8.419257210334763e-05,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.4,
      "clearance_m": -0.0002588033676147461,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259912371635437,
      "action": [
        1.0,
        0.329950749874115,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3200366497039795,
        -1.0876413583755493,
        0.9190479516983032,
        -1.457854151725769,
        -1.5337594747543335,
        -0.17926684021949768,
        0.9960652589797974,
        0.7044159770011902,
        -0.005588767118752003,
        0.25681960582733154,
        0.002665390493348241,
        -0.9996464848518372,
        -0.026460520923137665,
        -0.9981175661087036,
        -0.0010381187312304974,
        -0.061323381960392
      ],
      "bottle_position_world": [
        -0.2012200951576233,
        0.10018539428710938,
        0.8377139568328857
      ],
      "bottle_quaternion_world": [
        0.7284784317016602,
        7.86817618063651e-05,
        4.076351979165338e-05,
        0.6850687265396118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.45,
      "clearance_m": -0.0002582669258117676,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259940981864929,
      "action": [
        1.0,
        0.3296094834804535,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3205220699310303,
        -1.0748846530914307,
        0.9044938087463379,
        -1.4475032091140747,
        -1.5281821489334106,
        -0.1720227152109146,
        0.9960900545120239,
        0.7069653272628784,
        -0.00480424240231514,
        0.25409573316574097,
        -0.004989712033420801,
        -0.9994142651557922,
        -0.03386693075299263,
        -0.9985359907150269,
        0.0068039982579648495,
        -0.05366947129368782
      ],
      "bottle_position_world": [
        -0.20122402906417847,
        0.1001863181591034,
        0.8377144932746887
      ],
      "bottle_quaternion_world": [
        0.7284789681434631,
        4.4272488594288006e-05,
        1.8067803466692567e-05,
        0.6850682497024536
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.5,
      "clearance_m": -0.000260770320892334,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259915351867676,
      "action": [
        1.0,
        0.3289094865322113,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3209762573242188,
        -1.0627837181091309,
        0.8903390169143677,
        -1.437577247619629,
        -1.522809386253357,
        -0.16518181562423706,
        0.9961168766021729,
        0.7093935012817383,
        -0.004036578815430403,
        0.25164374709129333,
        -0.012297460809350014,
        -0.9990906715393066,
        -0.040830861777067184,
        -0.9988146424293518,
        0.014196990989148617,
        -0.04656335711479187
      ],
      "bottle_position_world": [
        -0.20122043788433075,
        0.10018442571163177,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7284790873527527,
        8.36935214465484e-05,
        3.1277319067157805e-05,
        0.6850681304931641
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.55,
      "clearance_m": -0.00025850534439086914,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599886655807495,
      "action": [
        1.0,
        0.33461642265319824,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.321462869644165,
        -1.0502469539642334,
        0.8757628202438354,
        -1.4273582696914673,
        -1.5172828435897827,
        -0.1582491546869278,
        0.9961065053939819,
        0.711868405342102,
        -0.003259151941165328,
        0.2490350604057312,
        -0.019828133285045624,
        -0.998655378818512,
        -0.047902315855026245,
        -0.999000608921051,
        0.02170943096280098,
        -0.03907829523086548
      ],
      "bottle_position_world": [
        -0.20122407376766205,
        0.10019282251596451,
        0.8377140164375305
      ],
      "bottle_quaternion_world": [
        0.7284796833992004,
        -4.312070814194158e-06,
        6.400694110197946e-05,
        0.6850674748420715
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.6000000000000001,
      "clearance_m": -0.0002579689025878906,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600685358047485,
      "action": [
        1.0,
        0.33244940638542175,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3219799995422363,
        -1.0374462604522705,
        0.8607826828956604,
        -1.4169191122055054,
        -1.5116326808929443,
        -0.1512974053621292,
        0.9961041212081909,
        0.714373767375946,
        -0.002476652152836323,
        0.24638637900352478,
        -0.02750382013618946,
        -0.9981074333190918,
        -0.05500434339046478,
        -0.9990776181221008,
        0.029262803494930267,
        -0.03143366053700447
      ],
      "bottle_position_world": [
        -0.20124033093452454,
        0.10019052028656006,
        0.8377147316932678
      ],
      "bottle_quaternion_world": [
        0.7284799218177795,
        -0.00010205912258243188,
        -7.406137592624873e-05,
        0.6850671768188477
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.65,
      "clearance_m": -0.0002669095993041992,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259931743144989,
      "action": [
        1.0,
        0.332022488117218,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3225276470184326,
        -1.0243561267852783,
        0.8453938961029053,
        -1.4062491655349731,
        -1.5058608055114746,
        -0.1443260759115219,
        0.9960981011390686,
        0.7169086933135986,
        -0.0016897431341931224,
        0.24367870390415192,
        -0.035329658538103104,
        -0.9974422454833984,
        -0.06213535740971565,
        -0.9990419745445251,
        0.03685624524950981,
        -0.023596569895744324
      ],
      "bottle_position_world": [
        -0.20122991502285004,
        0.10017872601747513,
        0.8377120494842529
      ],
      "bottle_quaternion_world": [
        0.7284802198410034,
        5.903427518205717e-05,
        -7.941915828268975e-05,
        0.685066819190979
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.7000000000000001,
      "clearance_m": -0.00025832653045654297,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599162459373474,
      "action": [
        1.0,
        0.3310509920120239,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3230395317077637,
        -1.0119043588638306,
        0.8303919434547424,
        -1.3959864377975464,
        -1.5003013610839844,
        -0.13773636519908905,
        0.9961104393005371,
        0.7193266749382019,
        -0.0009192413417622447,
        0.2412373423576355,
        -0.042795728892087936,
        -0.9967091679573059,
        -0.0688476487994194,
        -0.9988979697227478,
        0.0440162755548954,
        -0.016309771686792374
      ],
      "bottle_position_world": [
        -0.2012265920639038,
        0.10018060356378555,
        0.8377143740653992
      ],
      "bottle_quaternion_world": [
        0.728480875492096,
        6.83496255078353e-05,
        -4.1623919969424605e-05,
        0.6850661635398865
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.75,
      "clearance_m": -0.00025963783264160156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259921610355377,
      "action": [
        1.0,
        0.3367835581302643,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.323580503463745,
        -0.999025821685791,
        0.8149415254592896,
        -1.3854283094406128,
        -1.4946017265319824,
        -0.13107293844223022,
        0.996092677116394,
        0.7217848300933838,
        -0.0001402357593178749,
        0.23865264654159546,
        -0.05046771839261055,
        -0.9958576560020447,
        -0.07563559710979462,
        -0.9986472725868225,
        0.051268015056848526,
        -0.008676150813698769
      ],
      "bottle_position_world": [
        -0.20122753083705902,
        0.10017980635166168,
        0.8377129435539246
      ],
      "bottle_quaternion_world": [
        0.7284812927246094,
        6.746074359398335e-05,
        -5.394343315856531e-05,
        0.685065746307373
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.8,
      "clearance_m": -0.0002548098564147949,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260016977787018,
      "action": [
        1.0,
        0.33450156450271606,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.324150562286377,
        -0.9858547449111938,
        0.7990309000015259,
        -1.3746203184127808,
        -1.488781452178955,
        -0.12439106404781342,
        0.9960883855819702,
        0.7242734432220459,
        0.0006433182861655951,
        0.23602621257305145,
        -0.05828142166137695,
        -0.9948902130126953,
        -0.08244665712118149,
        -0.9982842803001404,
        0.05855349078774452,
        -0.000884082168340683
      ],
      "bottle_position_world": [
        -0.20123238861560822,
        0.10019160062074661,
        0.8377177715301514
      ],
      "bottle_quaternion_world": [
        0.7284815311431885,
        -5.4362797527574e-05,
        -6.829558969911886e-06,
        0.685065507888794
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.8500000000000001,
      "clearance_m": -0.0002568364143371582,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600008845329285,
      "action": [
        1.0,
        0.3336699604988098,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.324751377105713,
        -0.9723605513572693,
        0.7826452255249023,
        -1.363546371459961,
        -1.4828407764434814,
        -0.11768927425146103,
        0.9960871934890747,
        0.7267916202545166,
        0.0014297212474048138,
        0.23333919048309326,
        -0.0662451758980751,
        -0.9938012957572937,
        -0.08927995711565018,
        -0.9978028535842896,
        0.06587406992912292,
        0.007099824026226997
      ],
      "bottle_position_world": [
        -0.20122379064559937,
        0.10019569844007492,
        0.8377158641815186
      ],
      "bottle_quaternion_world": [
        0.7284817099571228,
        -2.4252760340459645e-05,
        8.599759894423187e-05,
        0.6850652694702148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.9,
      "clearance_m": -0.0002595186233520508,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599403858184814,
      "action": [
        1.0,
        0.33234620094299316,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.325310468673706,
        -0.9595140814781189,
        0.7666505575180054,
        -1.3528783321380615,
        -1.4771299362182617,
        -0.11136142909526825,
        0.996100127696991,
        0.7291924357414246,
        0.0021993659902364016,
        0.2309250384569168,
        -0.07382125407457352,
        -0.9926688075065613,
        -0.09570508450269699,
        -0.9972440600395203,
        0.07276293635368347,
        0.01450582966208458
      ],
      "bottle_position_world": [
        -0.20122027397155762,
        0.10018888860940933,
        0.837713360786438
      ],
      "bottle_quaternion_world": [
        0.7284817695617676,
        5.116785177960992e-05,
        6.421408761525527e-05,
        0.6850652098655701
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.9500000000000001,
      "clearance_m": -0.0002588629722595215,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599424719810486,
      "action": [
        1.0,
        0.33829060196876526,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.325897693634033,
        -0.946200966835022,
        0.7501305937767029,
        -1.3418751955032349,
        -1.4712789058685303,
        -0.10495903342962265,
        0.9960880875587463,
        0.7316328287124634,
        0.0029773854184895754,
        0.2283647507429123,
        -0.08160708099603653,
        -0.9914117455482483,
        -0.10219421237707138,
        -0.9965676665306091,
        0.07973682880401611,
        0.02226080559194088
      ],
      "bottle_position_world": [
        -0.2012232542037964,
        0.10018690675497055,
        0.8377138376235962
      ],
      "bottle_quaternion_world": [
        0.7284818887710571,
        4.504955722950399e-05,
        2.79762243735604e-05,
        0.6850651502609253
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.0,
      "clearance_m": -0.00025981664657592773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259991943836212,
      "action": [
        1.0,
        0.33552494645118713,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3265137672424316,
        -0.9325554966926575,
        0.7330670952796936,
        -1.3305786848068237,
        -1.465308666229248,
        -0.09853868186473846,
        0.9960954189300537,
        0.7341037392616272,
        0.003759074257686734,
        0.22576315701007843,
        -0.08953185379505157,
        -0.9900346994400024,
        -0.10870024561882019,
        -0.9957744479179382,
        0.08673836290836334,
        0.030170343816280365
      ],
      "bottle_position_world": [
        -0.20123356580734253,
        0.10018439590930939,
        0.8377125263214111
      ],
      "bottle_quaternion_world": [
        0.7284818887710571,
        -9.373933608003426e-06,
        -6.648642738582566e-05,
        0.6850651502609253
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.05,
      "clearance_m": -0.0002599954605102539,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600661516189575,
      "action": [
        1.0,
        0.3343554437160492,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.327153444290161,
        -0.918605387210846,
        0.7156432271003723,
        -1.319023847579956,
        -1.4592523574829102,
        -0.0921325609087944,
        0.9961563944816589,
        0.7365681529045105,
        0.004545007832348347,
        0.22305308282375336,
        -0.09757357835769653,
        -0.9885389804840088,
        -0.11519759148359299,
        -0.994858980178833,
        0.093727707862854,
        0.0383552685379982
      ],
      "bottle_position_world": [
        -0.2012331336736679,
        0.10019519925117493,
        0.8377125263214111
      ],
      "bottle_quaternion_world": [
        0.7284818887710571,
        -8.712153066881001e-05,
        1.2902557500638068e-05,
        0.6850650906562805
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.1,
      "clearance_m": -0.00025707483291625977,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599549889564514,
      "action": [
        1.0,
        0.33326876163482666,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.327749252319336,
        -0.9052791595458984,
        0.6984173059463501,
        -1.307836890220642,
        -1.4534205198287964,
        -0.08606857806444168,
        0.996144711971283,
        0.7389482259750366,
        0.005311501212418079,
        0.220687597990036,
        -0.10521374642848969,
        -0.987023115158081,
        -0.12130916863679886,
        -0.9939006567001343,
        0.10031665861606598,
        0.04580963775515556
      ],
      "bottle_position_world": [
        -0.2012244015932083,
        0.10018853098154068,
        0.8377155661582947
      ],
      "bottle_quaternion_world": [
        0.728482186794281,
        2.4483641027472913e-05,
        3.1114363082451746e-05,
        0.6850647926330566
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.1500000000000001,
      "clearance_m": -0.000256955623626709,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599138617515564,
      "action": [
        1.0,
        0.338718056678772,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.328368663787842,
        -0.891486406326294,
        0.6808016300201416,
        -1.2963143587112427,
        -1.4474824666976929,
        -0.07996636629104614,
        0.9961832165718079,
        0.7413257360458374,
        0.006087406538426876,
        0.21810382604599,
        -0.11304157227277756,
        -0.9853821396827698,
        -0.12745171785354614,
        -0.9928117990493774,
        0.10694241523742676,
        0.05374457687139511
      ],
      "bottle_position_world": [
        -0.20122334361076355,
        0.10018371790647507,
        0.837715744972229
      ],
      "bottle_quaternion_world": [
        0.728482186794281,
        6.744464189978316e-05,
        4.710437224275665e-06,
        0.6850647926330566
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.2000000000000002,
      "clearance_m": -0.0002576112747192383,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600321769714355,
      "action": [
        1.0,
        0.3359428346157074,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.329010248184204,
        -0.8773788213729858,
        0.6625791788101196,
        -1.2844865322113037,
        -1.4414488077163696,
        -0.07386763393878937,
        0.9962143301963806,
        0.7437267899513245,
        0.006865301169455051,
        0.21551117300987244,
        -0.12096917629241943,
        -0.9836275577545166,
        -0.13357949256896973,
        -0.991609513759613,
        0.11356368660926819,
        0.06175937503576279
      ],
      "bottle_position_world": [
        -0.20123891532421112,
        0.10018689930438995,
        0.8377153873443604
      ],
      "bottle_quaternion_world": [
        0.728482186794281,
        -6.60304503981024e-05,
        -8.964286826085299e-05,
        0.6850647926330566
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.25,
      "clearance_m": -0.00025707483291625977,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260013699531555,
      "action": [
        1.0,
        0.33480772376060486,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3296749591827393,
        -0.8629003763198853,
        0.6437284350395203,
        -1.2723230123519897,
        -1.4353208541870117,
        -0.06776997447013855,
        0.9962285161018372,
        0.7461484670639038,
        0.007644636556506157,
        0.21287305653095245,
        -0.12900876998901367,
        -0.9817551970481873,
        -0.1396925449371338,
        -0.9902868866920471,
        0.12018121033906937,
        0.06991893798112869
      ],
      "bottle_position_world": [
        -0.20123571157455444,
        0.10018720477819443,
        0.8377156853675842
      ],
      "bottle_quaternion_world": [
        0.728482186794281,
        -4.593201811076142e-05,
        -6.338093953672796e-05,
        0.6850647926330566
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.3,
      "clearance_m": -0.00025779008865356445,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599496245384216,
      "action": [
        1.0,
        0.33289653062820435,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.330291986465454,
        -0.849048376083374,
        0.6252507567405701,
        -1.2605371475219727,
        -1.4294536113739014,
        -0.06202631816267967,
        0.9962557554244995,
        0.7484511137008667,
        0.00840433407574892,
        0.21049955487251282,
        -0.13662080466747284,
        -0.9798907041549683,
        -0.14542919397354126,
        -0.9889505505561829,
        0.12638361752033234,
        0.0774882435798645
      ],
      "bottle_position_world": [
        -0.2012295126914978,
        0.10018305480480194,
        0.8377149105072021
      ],
      "bottle_quaternion_world": [
        0.728482186794281,
        2.8837503123213537e-05,
        -4.601845648721792e-05,
        0.6850647926330566
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.35,
      "clearance_m": -0.0002555251121520996,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259992837905884,
      "action": [
        1.0,
        0.33840686082839966,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.330929756164551,
        -0.8347094058990479,
        0.6060976982116699,
        -1.2483588457107544,
        -1.42348313331604,
        -0.056246764957904816,
        0.9962520003318787,
        0.7507774233818054,
        0.009169105440378189,
        0.2080104500055313,
        -0.14438994228839874,
        -0.9779055714607239,
        -0.15117113292217255,
        -0.9874884486198425,
        0.13261479139328003,
        0.0853247120976448
      ],
      "bottle_position_world": [
        -0.2012329250574112,
        0.1001875177025795,
        0.8377173542976379
      ],
      "bottle_quaternion_world": [
        0.728482186794281,
        -2.868411502277013e-05,
        -4.01193683501333e-05,
        0.6850647926330566
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.4000000000000001,
      "clearance_m": -0.00023806095123291016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599281668663025,
      "action": [
        1.0,
        0.33517685532569885,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3315815925598145,
        -0.8200722336769104,
        0.5863063931465149,
        -1.235866904258728,
        -1.4174599647521973,
        -0.0505058616399765,
        0.9962549805641174,
        0.7531103491783142,
        0.009932609274983406,
        0.20552682876586914,
        -0.15219993889331818,
        -0.975823163986206,
        -0.1568601131439209,
        -0.9859268665313721,
        0.13879570364952087,
        0.09319092333316803
      ],
      "bottle_position_world": [
        -0.20122691988945007,
        0.10019172728061676,
        0.8377333879470825
      ],
      "bottle_quaternion_world": [
        0.728482186794281,
        -1.8321374227525666e-05,
        3.420890789129771e-05,
        0.6850647926330566
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.4500000000000002,
      "clearance_m": -0.000247955322265625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259987473487854,
      "action": [
        1.0,
        0.3339245319366455,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3322486877441406,
        -0.8050781488418579,
        0.5658151507377625,
        -1.223019003868103,
        -1.4113808870315552,
        -0.04479585960507393,
        0.9962595701217651,
        0.7554503679275513,
        0.010694620199501514,
        0.20302636921405792,
        -0.1600651741027832,
        -0.9736393094062805,
        -0.16249904036521912,
        -0.984260082244873,
        0.14493343234062195,
        0.10112595558166504
      ],
      "bottle_position_world": [
        -0.20123286545276642,
        0.1001906469464302,
        0.8377248644828796
      ],
      "bottle_quaternion_world": [
        0.728482186794281,
        -5.2060837333556265e-05,
        -1.8447093680151738e-05,
        0.6850647926330566
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.5,
      "clearance_m": -0.0002567768096923828,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260053038597107,
      "action": [
        1.0,
        0.33243194222450256,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3328652381896973,
        -0.7906777262687683,
        0.5456753969192505,
        -1.2105251550674438,
        -1.4055858850479126,
        -0.0394313670694828,
        0.9962817430496216,
        0.7576681971549988,
        0.011433999054133892,
        0.2007727324962616,
        -0.16748455166816711,
        -0.9714942574501038,
        -0.16777560114860535,
        -0.9826146960258484,
        0.15066660940647125,
        0.10848420113325119
      ],
      "bottle_position_world": [
        -0.20123493671417236,
        0.10019341111183167,
        0.8377156257629395
      ],
      "bottle_quaternion_world": [
        0.728482186794281,
        -8.729870751267299e-05,
        -1.4746975466550793e-05,
        0.6850648522377014
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.55,
      "clearance_m": -0.000258028507232666,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425991952419281,
      "action": [
        1.0,
        0.3379141092300415,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3334927558898926,
        -0.7758131623268127,
        0.5247771143913269,
        -1.1976191997528076,
        -1.3997308015823364,
        -0.034065525978803635,
        0.9962816834449768,
        0.7598938941955566,
        0.012176411226391792,
        0.1984422504901886,
        -0.17499516904354095,
        -0.9692485332489014,
        -0.17301595211029053,
        -0.9808598160743713,
        0.156382754445076,
        0.11601222306489944
      ],
      "bottle_position_world": [
        -0.2012234479188919,
        0.10018370300531387,
        0.8377143144607544
      ],
      "bottle_quaternion_world": [
        0.7284811735153198,
        6.670034781564027e-05,
        3.837258191197179e-06,
        0.6850658655166626
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.6,
      "clearance_m": -0.00025963783264160156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259946346282959,
      "action": [
        1.0,
        0.33552873134613037,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3341219425201416,
        -0.7606949806213379,
        0.5032147765159607,
        -1.1844063997268677,
        -1.3938837051391602,
        -0.028780393302440643,
        0.9962969422340393,
        0.762104332447052,
        0.01291399821639061,
        0.19614830613136292,
        -0.18246418237686157,
        -0.9669369459152222,
        -0.17815804481506348,
        -0.9790356755256653,
        0.1619965136051178,
        0.12347744405269623
      ],
      "bottle_position_world": [
        -0.20122545957565308,
        0.10018503665924072,
        0.837712824344635
      ],
      "bottle_quaternion_world": [
        0.7284805774688721,
        4.2616396967787296e-05,
        -1.835437160480069e-06,
        0.6850665807723999
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.6500000000000001,
      "clearance_m": -0.0002525448799133301,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260014593601227,
      "action": [
        1.0,
        0.33544543385505676,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.334749460220337,
        -0.745330810546875,
        0.4810069501399994,
        -1.1708974838256836,
        -1.3880698680877686,
        -0.023590242490172386,
        0.99631267786026,
        0.7642900347709656,
        0.013644120655953884,
        0.19388359785079956,
        -0.18986941874027252,
        -0.9645695090293884,
        -0.183182030916214,
        -0.9771483540534973,
        0.16749079525470734,
        0.13087554275989532
      ],
      "bottle_position_world": [
        -0.20123475790023804,
        0.1001904234290123,
        0.8377200961112976
      ],
      "bottle_quaternion_world": [
        0.7284805774688721,
        -6.298912921920419e-05,
        -3.335852670716122e-05,
        0.6850665807723999
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.7000000000000002,
      "clearance_m": -0.00025206804275512695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425992488861084,
      "action": [
        1.0,
        0.3358429968357086,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.335329532623291,
        -0.7304843664169312,
        0.4591277539730072,
        -1.1577056646347046,
        -1.382567048072815,
        -0.018733911216259003,
        0.9963638186454773,
        0.766348659992218,
        0.0143437460064888,
        0.19181449711322784,
        -0.1968289166688919,
        -0.9622724652290344,
        -0.18785712122917175,
        -0.9753101468086243,
        0.1726008802652359,
        0.1377650499343872
      ],
      "bottle_position_world": [
        -0.20122358202934265,
        0.10018746554851532,
        0.8377204537391663
      ],
      "bottle_quaternion_world": [
        0.7284805774688721,
        3.795027078012936e-05,
        2.958464938274119e-05,
        0.6850665807723999
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.75,
      "clearance_m": -0.00025534629821777344,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599186301231384,
      "action": [
        1.0,
        0.34123852849006653,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.335902690887451,
        -0.715366005897522,
        0.4366278350353241,
        -1.1442197561264038,
        -1.3771213293075562,
        -0.013968519866466522,
        0.9964146018028259,
        0.7683731317520142,
        0.015035763382911682,
        0.1897406131029129,
        -0.20371942222118378,
        -0.959936797618866,
        -0.19240587949752808,
        -0.9734188914299011,
        0.17759215831756592,
        0.14462682604789734
      ],
      "bottle_position_world": [
        -0.20122365653514862,
        0.1001848354935646,
        0.8377171158790588
      ],
      "bottle_quaternion_world": [
        0.7284805774688721,
        5.783859160146676e-05,
        1.0740456673374865e-05,
        0.6850665807723999
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.8,
      "clearance_m": -0.00025790929794311523,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599380016326904,
      "action": [
        1.0,
        0.3409145772457123,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.336460590362549,
        -0.7002376914024353,
        0.4138075113296509,
        -1.1306445598602295,
        -1.371826410293579,
        -0.009387684985995293,
        0.9964321851730347,
        0.7703303694725037,
        0.015706676989793777,
        0.18773189187049866,
        -0.21039794385433197,
        -0.9576112627983093,
        -0.1967577487230301,
        -0.9715225100517273,
        0.18237195909023285,
        0.1512768268585205
      ],
      "bottle_position_world": [
        -0.20121954381465912,
        0.10018981248140335,
        0.8377146124839783
      ],
      "bottle_quaternion_world": [
        0.7284801602363586,
        4.980539597454481e-05,
        7.63821808504872e-05,
        0.6850669980049133
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.85,
      "clearance_m": -0.00025856494903564453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599397897720337,
      "action": [
        1.0,
        0.33731693029403687,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3370048999786377,
        -0.685226321220398,
        0.3908465802669525,
        -1.1170850992202759,
        -1.366749882698059,
        -0.005045529920607805,
        0.9964772462844849,
        0.7721995711326599,
        0.01634085923433304,
        0.18580739200115204,
        -0.2167908102273941,
        -0.9553300142288208,
        -0.20086494088172913,
        -0.9696487188339233,
        0.18689373135566711,
        0.15764683485031128
      ],
      "bottle_position_world": [
        -0.20121954381465912,
        0.10018980503082275,
        0.8377140760421753
      ],
      "bottle_quaternion_world": [
        0.7284793853759766,
        5.036406219005585e-05,
        7.638737588422373e-05,
        0.6850678324699402
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.9000000000000001,
      "clearance_m": -0.00025957822799682617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599260807037354,
      "action": [
        1.0,
        0.34002208709716797,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3375189304351807,
        -0.6704421639442444,
        0.36789247393608093,
        -1.1036309003829956,
        -1.361924409866333,
        -0.0009551654220558703,
        0.9965023398399353,
        0.7739672064781189,
        0.01694471575319767,
        0.18399028480052948,
        -0.2228497862815857,
        -0.9531171917915344,
        -0.20470969378948212,
        -0.9678213596343994,
        0.19113317131996155,
        0.1636778563261032
      ],
      "bottle_position_world": [
        -0.20123082399368286,
        0.10017769038677216,
        0.8377131223678589
      ],
      "bottle_quaternion_world": [
        0.7284782528877258,
        6.202238000696525e-05,
        -9.321436664322391e-05,
        0.6850690245628357
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.9500000000000002,
      "clearance_m": -0.00025653839111328125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599284648895264,
      "action": [
        1.0,
        0.3348053991794586,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3380157947540283,
        -0.6558862328529358,
        0.3449840545654297,
        -1.0903040170669556,
        -1.3573561906814575,
        0.0028722661081701517,
        0.996496856212616,
        0.7756328582763672,
        0.01750751957297325,
        0.18226595222949982,
        -0.22857332229614258,
        -0.9509817957878113,
        -0.2082986980676651,
        -0.9660484790802002,
        0.1950950026512146,
        0.16937734186649323
      ],
      "bottle_position_world": [
        -0.20122209191322327,
        0.10018707811832428,
        0.8377161026000977
      ],
      "bottle_quaternion_world": [
        0.7284777164459229,
        5.281127232592553e-05,
        3.7867164792260155e-05,
        0.6850695610046387
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.0,
      "clearance_m": -0.0002537965774536133,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599183320999146,
      "action": [
        1.0,
        0.3283385932445526,
        -1.0,
        1.0,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.33849835395813,
        -0.6415600180625916,
        0.3221225142478943,
        -1.0771028995513916,
        -1.3530513048171997,
        0.006437645759433508,
        0.9964758157730103,
        0.7771958708763123,
        0.018025420606136322,
        0.18063513934612274,
        -0.23395948112010956,
        -0.9489328265190125,
        -0.21163640916347504,
        -0.9643391966819763,
        0.19878605008125305,
        0.1747414469718933
      ],
      "bottle_position_world": [
        -0.2012239694595337,
        0.10018564015626907,
        0.8377192616462708
      ],
      "bottle_quaternion_world": [
        0.7284777164459229,
        5.050602703704499e-05,
        1.3677195966010913e-05,
        0.6850695610046387
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.0500000000000003,
      "clearance_m": -0.0002530217170715332,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598971724510193,
      "action": [
        1.0,
        0.32141318917274475,
        -1.0,
        0.9757223129272461,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.338941812515259,
        -0.6274100542068481,
        0.2991616427898407,
        -1.0639474391937256,
        -1.34908127784729,
        0.00981663167476654,
        0.9965102076530457,
        0.7786572575569153,
        0.018498094752430916,
        0.17911091446876526,
        -0.23904098570346832,
        -0.9469870924949646,
        -0.21465066075325012,
        -0.9626916646957397,
        0.20225763320922852,
        0.17976826429367065
      ],
      "bottle_position_world": [
        -0.20121610164642334,
        0.10018975287675858,
        0.8377199172973633
      ],
      "bottle_quaternion_world": [
        0.7284777164459229,
        7.518308120779693e-05,
        0.0001015881061903201,
        0.6850695610046387
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.1,
      "clearance_m": -0.0002574324607849121,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600759863853455,
      "action": [
        1.0,
        0.32472658157348633,
        -1.0,
        0.9332922697067261,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3393173217773438,
        -0.6135057806968689,
        0.2762107849121094,
        -1.0508962869644165,
        -1.3454961776733398,
        0.013040765188634396,
        0.9965299963951111,
        0.7800050973892212,
        0.01893681101500988,
        0.17769987881183624,
        -0.24380536377429962,
        -0.9451671838760376,
        -0.21729794144630432,
        -0.96111661195755,
        0.20551557838916779,
        0.184441477060318
      ],
      "bottle_position_world": [
        -0.20123235881328583,
        0.1001986488699913,
        0.8377152681350708
      ],
      "bottle_quaternion_world": [
        0.7284777164459229,
        -0.00010609193850541487,
        4.227166573400609e-05,
        0.6850695610046387
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.15,
      "clearance_m": -0.0002574324607849121,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260009527206421,
      "action": [
        1.0,
        0.31968367099761963,
        -1.0,
        0.8745871782302856,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3396196365356445,
        -0.599860668182373,
        0.2533051669597626,
        -1.037973165512085,
        -1.3423415422439575,
        0.016134077683091164,
        0.9965227842330933,
        0.7812368869781494,
        0.019333941861987114,
        0.17639586329460144,
        -0.2482592910528183,
        -0.9434886574745178,
        -0.2195385992527008,
        -0.9596168994903564,
        0.20858106017112732,
        0.18875913321971893
      ],
      "bottle_position_world": [
        -0.20123521983623505,
        0.1001870185136795,
        0.8377156853675842
      ],
      "bottle_quaternion_world": [
        0.7284777164459229,
        -3.913895125151612e-05,
        -6.081861283746548e-05,
        0.6850695610046387
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.2,
      "clearance_m": -0.0002492666244506836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598870396614075,
      "action": [
        1.0,
        0.31357333064079285,
        -1.0,
        0.8131968975067139,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.339855432510376,
        -0.5864719748497009,
        0.2304457575082779,
        -1.025180697441101,
        -1.3396053314208984,
        0.01908908784389496,
        0.9965023994445801,
        0.7823547124862671,
        0.01968805119395256,
        0.17519837617874146,
        -0.2523983418941498,
        -0.94195556640625,
        -0.22139298915863037,
        -0.9581997990608215,
        0.21145570278167725,
        0.1927167922258377
      ],
      "bottle_position_world": [
        -0.20122887194156647,
        0.10017905384302139,
        0.8377233147621155
      ],
      "bottle_quaternion_world": [
        0.7284777164459229,
        6.438567652367055e-05,
        -6.927705544512719e-05,
        0.6850695610046387
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.25,
      "clearance_m": -0.0002562403678894043,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.426003634929657,
      "action": [
        1.0,
        0.30685001611709595,
        -1.0,
        0.7540055513381958,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.340031385421753,
        -0.5732685327529907,
        0.20748469233512878,
        -1.012444257736206,
        -1.3372478485107422,
        0.021900739520788193,
        0.9965370893478394,
        0.7833678126335144,
        0.020003514364361763,
        0.17411190271377563,
        -0.25622522830963135,
        -0.9405643939971924,
        -0.22290778160095215,
        -0.9568729400634766,
        0.21414394676685333,
        0.196308895945549
      ],
      "bottle_position_world": [
        -0.2012273073196411,
        0.10019797086715698,
        0.8377164006233215
      ],
      "bottle_quaternion_world": [
        0.7284777164459229,
        -6.624320667469874e-05,
        7.564428233308718e-05,
        0.6850695610046387
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.3000000000000003,
      "clearance_m": -0.0002593994140625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259922206401825,
      "action": [
        1.0,
        0.310981810092926,
        -1.0,
        0.712726354598999,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.340162515640259,
        -0.5602908730506897,
        0.18453271687030792,
        -0.9998154044151306,
        -1.3351880311965942,
        0.024515723809599876,
        0.9965566396713257,
        0.7842760682106018,
        0.020291579887270927,
        0.1731303334236145,
        -0.25971463322639465,
        -0.9393048286437988,
        -0.2241763472557068,
        -0.9556483030319214,
        0.216610848903656,
        0.19954022765159607
      ],
      "bottle_position_world": [
        -0.20123285055160522,
        0.10017558187246323,
        0.8377134203910828
      ],
      "bottle_quaternion_world": [
        0.7284777164459229,
        6.266712443903089e-05,
        -0.00012327628792263567,
        0.6850695610046387
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.35,
      "clearance_m": -0.00025463104248046875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599451541900635,
      "action": [
        1.0,
        0.30621886253356934,
        -1.0,
        0.6613810062408447,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.340251922607422,
        -0.5475438237190247,
        0.1616252213716507,
        -0.987318754196167,
        -1.3334368467330933,
        0.02694523334503174,
        0.9965507388114929,
        0.7850809097290039,
        0.02054685726761818,
        0.17224304378032684,
        -0.26287809014320374,
        -0.9381815195083618,
        -0.22519154846668243,
        -0.9545276761054993,
        0.21887215971946716,
        0.20241691172122955
      ],
      "bottle_position_world": [
        -0.2012265920639038,
        0.10018686205148697,
        0.837718665599823
      ],
      "bottle_quaternion_world": [
        0.7284774780273438,
        2.220432725152932e-05,
        2.875920245060115e-06,
        0.6850698590278625
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.4000000000000004,
      "clearance_m": -0.0002053380012512207,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259778559207916,
      "action": [
        1.0,
        0.3002241253852844,
        -1.0,
        0.6090503931045532,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3403077125549316,
        -0.5350208282470703,
        0.13876333832740784,
        -0.9749569892883301,
        -1.3319711685180664,
        0.029183074831962585,
        0.9965319633483887,
        0.7857856750488281,
        0.020768679678440094,
        0.17144690454006195,
        -0.2657199203968048,
        -0.9371901750564575,
        -0.22598177194595337,
        -0.9535139799118042,
        0.22093145549297333,
        0.20494061708450317
      ],
      "bottle_position_world": [
        -0.20122790336608887,
        0.10018691420555115,
        0.8377668857574463
      ],
      "bottle_quaternion_world": [
        0.7284774780273438,
        1.2486238119890913e-05,
        -6.623274202866014e-06,
        0.6850698590278625
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.45,
      "clearance_m": -0.00022023916244506836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259834289550781,
      "action": [
        1.0,
        0.29391083121299744,
        -1.0,
        0.5589786767959595,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3403358459472656,
        -0.5226491093635559,
        0.11579921841621399,
        -0.9626620411872864,
        -1.3307523727416992,
        0.031232861801981926,
        0.9965667128562927,
        0.7863991856575012,
        0.020961862057447433,
        0.17074529826641083,
        -0.26825156807899475,
        -0.9363221526145935,
        -0.2265886664390564,
        -0.9526114463806152,
        0.22279930114746094,
        0.20710481703281403
      ],
      "bottle_position_world": [
        -0.20122739672660828,
        0.10018803179264069,
        0.8377528786659241
      ],
      "bottle_quaternion_world": [
        0.7284774780273438,
        7.75166063249344e-06,
        5.305870217853226e-06,
        0.6850698590278625
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.5,
      "clearance_m": -0.00023984909057617188,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259911775588989,
      "action": [
        1.0,
        0.29867255687713623,
        -1.0,
        0.5232527256011963,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3403499126434326,
        -0.5104638338088989,
        0.09284435957670212,
        -0.9504857659339905,
        -1.3297168016433716,
        0.033074550330638885,
        0.9965863823890686,
        0.7869227528572083,
        0.021133046597242355,
        0.17012690007686615,
        -0.2704801559448242,
        -0.9355619549751282,
        -0.22707873582839966,
        -0.9518205523490906,
        0.22446954250335693,
        0.20892934501171112
      ],
      "bottle_position_world": [
        -0.2012282907962799,
        0.1001879870891571,
        0.8377329111099243
      ],
      "bottle_quaternion_world": [
        0.7284774780273438,
        1.7946250636668992e-06,
        -1.8872423197535682e-06,
        0.6850698590278625
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.5500000000000003,
      "clearance_m": -0.00023883581161499023,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599666118621826,
      "action": [
        1.0,
        0.2942383885383606,
        -1.0,
        0.47880133986473083,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.340353488922119,
        -0.4984561502933502,
        0.0699322521686554,
        -0.938463568687439,
        -1.3288432359695435,
        0.03475033491849899,
        0.996580958366394,
        0.7873648405075073,
        0.02128387801349163,
        0.16957473754882812,
        -0.27245351672172546,
        -0.9348947405815125,
        -0.22746659815311432,
        -0.9511306285858154,
        0.22598573565483093,
        0.21043084561824799
      ],
      "bottle_position_world": [
        -0.20123283565044403,
        0.10019204765558243,
        0.837733268737793
      ],
      "bottle_quaternion_world": [
        0.7284774780273438,
        -6.03101980232168e-05,
        -7.054389698168961e-06,
        0.6850698590278625
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.6,
      "clearance_m": -0.00025391578674316406,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.426001638174057,
      "action": [
        1.0,
        0.2889350652694702,
        -1.0,
        0.4334106743335724,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3403549194335938,
        -0.48658978939056396,
        0.04706238955259323,
        -0.9266275763511658,
        -1.328073501586914,
        0.03633449599146843,
        0.9965630769729614,
        0.7877417206764221,
        0.02142053283751011,
        0.16906657814979553,
        -0.27425891160964966,
        -0.9342871308326721,
        -0.22779397666454315,
        -0.9505211114883423,
        0.2274254709482193,
        0.21163073182106018
      ],
      "bottle_position_world": [
        -0.20122940838336945,
        0.10019455850124359,
        0.8377187848091125
      ],
      "bottle_quaternion_world": [
        0.7284774780273438,
        -5.4822652600705624e-05,
        3.656409899122082e-05,
        0.6850698590278625
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.6500000000000004,
      "clearance_m": -0.00021857023239135742,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259818494319916,
      "action": [
        1.0,
        0.2835710048675537,
        -1.0,
        0.3891185224056244,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.340362071990967,
        -0.4747042953968048,
        0.024079568684101105,
        -0.9150078892707825,
        -1.3272690773010254,
        0.03807529807090759,
        0.9965976476669312,
        0.7881019711494446,
        0.021565714851021767,
        0.16855010390281677,
        -0.2761538624763489,
        -0.9336432814598083,
        -0.22814422845840454,
        -0.9499274492263794,
        0.22902797162532806,
        0.212566077709198
      ],
      "bottle_position_world": [
        -0.20122897624969482,
        0.10018603503704071,
        0.8377559781074524
      ],
      "bottle_quaternion_world": [
        0.7284774780273438,
        1.2090011296095327e-05,
        -2.0418097847141325e-05,
        0.6850698590278625
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.7,
      "clearance_m": -0.00022393465042114258,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259854555130005,
      "action": [
        1.0,
        0.29121506214141846,
        -1.0,
        0.35719332098960876,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3403971195220947,
        -0.46221813559532166,
        0.0009644242818467319,
        -0.9044188857078552,
        -1.3254766464233398,
        0.04197527840733528,
        0.9966602921485901,
        0.7887837290763855,
        0.02189829759299755,
        0.16767887771129608,
        -0.280141681432724,
        -0.9322400689125061,
        -0.22901813685894012,
        -0.9488324522972107,
        0.23268164694309235,
        0.21348673105239868
      ],
      "bottle_position_world": [
        -0.20122969150543213,
        0.10018786787986755,
        0.8377508521080017
      ],
      "bottle_quaternion_world": [
        0.7284774780273438,
        -6.48929426461109e-06,
        -1.269743916054722e-05,
        0.6850698590278625
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.75,
      "clearance_m": -0.00024521350860595703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259938895702362,
      "action": [
        1.0,
        0.31658658385276794,
        -1.0,
        0.3205585181713104,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3404440879821777,
        -0.456901490688324,
        2.6969752070726827e-05,
        -0.9076113700866699,
        -1.3211132287979126,
        0.05211370438337326,
        0.9967634081840515,
        0.7904756665229797,
        0.02273058518767357,
        0.1643630862236023,
        -0.29069164395332336,
        -0.9285489320755005,
        -0.23085780441761017,
        -0.945647120475769,
        0.24205105006694794,
        0.21717026829719543
      ],
      "bottle_position_world": [
        -0.20122624933719635,
        0.1001904085278511,
        0.8377267718315125
      ],
      "bottle_quaternion_world": [
        0.7284774780273438,
        -1.3009603208047338e-06,
        3.101963739027269e-05,
        0.6850698590278625
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.8000000000000003,
      "clearance_m": -0.00023037195205688477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259909987449646,
      "action": [
        1.0,
        0.21448378264904022,
        -1.0,
        0.20153078436851501,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3404321670532227,
        -0.4524763226509094,
        4.055663157487288e-05,
        -0.9117177724838257,
        -1.3176740407943726,
        0.06265228986740112,
        0.9967321157455444,
        0.7921744585037231,
        0.023350434377789497,
        0.1613318771123886,
        -0.3012046813964844,
        -0.9249635338783264,
        -0.23177297413349152,
        -0.9424313306808472,
        0.25173652172088623,
        0.220118910074234
      ],
      "bottle_position_world": [
        -0.20123201608657837,
        0.10018957406282425,
        0.8377427458763123
      ],
      "bottle_quaternion_world": [
        0.7284774780273438,
        -3.555146395228803e-05,
        -1.765185152180493e-05,
        0.6850698590278625
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.85,
      "clearance_m": -0.00023674964904785156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598408460617065,
      "action": [
        1.0,
        0.21580661833286285,
        -1.0,
        0.16882947087287903,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.340341567993164,
        -0.4478940963745117,
        2.961795325973071e-05,
        -0.9159495830535889,
        -1.31444251537323,
        0.07356122136116028,
        0.9966961741447449,
        0.7938921451568604,
        0.023970279842615128,
        0.15817497670650482,
        -0.31192833185195923,
        -0.921252429485321,
        -0.23236843943595886,
        -0.9390044212341309,
        0.26164379715919495,
        0.22318920493125916
      ],
      "bottle_position_world": [
        -0.201228067278862,
        0.10017917305231094,
        0.8377348780632019
      ],
      "bottle_quaternion_world": [
        0.7284774780273438,
        7.012564310571179e-05,
        -6.135721923783422e-05,
        0.6850698590278625
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.9000000000000004,
      "clearance_m": -0.00025922060012817383,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600640654563904,
      "action": [
        1.0,
        0.21018822491168976,
        -1.0,
        0.13699951767921448,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3401832580566406,
        -0.44370535016059875,
        3.1515628506895155e-05,
        -0.9201377630233765,
        -1.311586618423462,
        0.08413290977478027,
        0.9966862201690674,
        0.7955288887023926,
        0.024555694311857224,
        0.15528538823127747,
        -0.32210394740104675,
        -0.917663037776947,
        -0.2326887995004654,
        -0.9356622695922852,
        0.27115052938461304,
        0.2258625328540802
      ],
      "bottle_position_world": [
        -0.20123396813869476,
        0.10019458830356598,
        0.8377132415771484
      ],
      "bottle_quaternion_world": [
        0.728477418422699,
        -8.668188820593059e-05,
        1.7984747273658286e-06,
        0.6850699186325073
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.95,
      "clearance_m": -0.0002586245536804199,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599374055862427,
      "action": [
        1.0,
        0.21015144884586334,
        -1.0,
        0.11121043562889099,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3399555683135986,
        -0.43934449553489685,
        2.400296762061771e-05,
        -0.9244646430015564,
        -1.3088715076446533,
        0.09507136791944504,
        0.9966657757759094,
        0.7971921563148499,
        0.025151727721095085,
        0.1522568017244339,
        -0.3325057923793793,
        -0.913928210735321,
        -0.23275631666183472,
        -0.9321039915084839,
        0.28088316321372986,
        0.22866365313529968
      ],
      "bottle_position_world": [
        -0.20122161507606506,
        0.10018755495548248,
        0.8377137780189514
      ],
      "bottle_quaternion_world": [
        0.7284771203994751,
        5.280419281916693e-05,
        4.581563189276494e-05,
        0.6850701570510864
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.0,
      "clearance_m": -0.00025904178619384766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260052442550659,
      "action": [
        1.0,
        0.20473866164684296,
        -1.0,
        0.08201643824577332,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3396589756011963,
        -0.43493932485580444,
        2.1832545826327987e-05,
        -0.9289634227752686,
        -1.3063418865203857,
        0.1063353419303894,
        0.9966530799865723,
        0.7988771200180054,
        0.02574712596833706,
        0.14918017387390137,
        -0.3430522680282593,
        -0.9100726246833801,
        -0.23255778849124908,
        -0.9283690452575684,
        0.2908095717430115,
        0.23143184185028076
      ],
      "bottle_position_world": [
        -0.2012360543012619,
        0.10019126534461975,
        0.8377134799957275
      ],
      "bottle_quaternion_world": [
        0.7284761667251587,
        -7.582034595543519e-05,
        -3.6931793147232383e-05,
        0.6850711703300476
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.0500000000000003,
      "clearance_m": -0.00025981664657592773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598915100097656,
      "action": [
        1.0,
        0.2004261165857315,
        -1.0,
        0.054858237504959106,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3392956256866455,
        -0.43047213554382324,
        1.847270323196426e-05,
        -0.9336200952529907,
        -1.3039929866790771,
        0.11790735274553299,
        0.9966443181037903,
        0.800581693649292,
        0.0263421181589365,
        0.14604325592517853,
        -0.35373222827911377,
        -0.9060927629470825,
        -0.2320994734764099,
        -0.9244516491889954,
        0.30091264843940735,
        0.23418226838111877
      ],
      "bottle_position_world": [
        -0.20122455060482025,
        0.1001780778169632,
        0.8377128839492798
      ],
      "bottle_quaternion_world": [
        0.7284749150276184,
        0.00010387082147644833,
        -4.216223896946758e-05,
        0.6850725412368774
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.1,
      "clearance_m": -0.0002536773681640625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260033965110779,
      "action": [
        1.0,
        0.19570310413837433,
        -1.0,
        0.02796223759651184,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.338895320892334,
        -0.42636969685554504,
        1.779595550033264e-05,
        -0.9381954073905945,
        -1.3019520044326782,
        0.12916123867034912,
        0.9966505765914917,
        0.8022072911262512,
        0.026898322626948357,
        0.14315985143184662,
        -0.36393213272094727,
        -0.9022122025489807,
        -0.23144501447677612,
        -0.920609176158905,
        0.3106653392314911,
        0.23657111823558807
      ],
      "bottle_position_world": [
        -0.20123648643493652,
        0.10019111633300781,
        0.8377190232276917
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        -7.781450403854251e-05,
        -3.9920745621202514e-05,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.1500000000000004,
      "clearance_m": -0.0002529621124267578,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259994924068451,
      "action": [
        1.0,
        0.19514866173267365,
        -1.0,
        0.005196958780288696,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.338425397872925,
        -0.42210495471954346,
        1.1869788977492135e-05,
        -0.9429153203964233,
        -1.3000516891479492,
        0.14066565036773682,
        0.9966411590576172,
        0.8038579225540161,
        0.027467360720038414,
        0.14014160633087158,
        -0.37423840165138245,
        -0.8982107639312744,
        -0.2305714637041092,
        -0.9165828824043274,
        0.32053494453430176,
        0.23902589082717896
      ],
      "bottle_position_world": [
        -0.20123395323753357,
        0.10018817335367203,
        0.837719738483429
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        -3.796009696088731e-05,
        -4.09519016102422e-05,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.2,
      "clearance_m": -0.00024324655532836914,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599183320999146,
      "action": [
        1.0,
        0.19025374948978424,
        -1.0,
        -0.0206967294216156,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.337891101837158,
        -0.4177958369255066,
        1.0317598935216665e-05,
        -0.947805643081665,
        -1.298330307006836,
        0.15255558490753174,
        0.9966369271278381,
        0.8055298328399658,
        0.028035467490553856,
        0.13707520067691803,
        -0.3847403824329376,
        -0.8940551280975342,
        -0.22943586111068726,
        -0.9123467206954956,
        0.33065304160118103,
        0.24143832921981812
      ],
      "bottle_position_world": [
        -0.20122557878494263,
        0.10018964111804962,
        0.8377297520637512
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        9.637867151468527e-06,
        3.1336199754150584e-05,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.25,
      "clearance_m": -0.00025010108947753906,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599865794181824,
      "action": [
        1.0,
        0.1853388100862503,
        -1.0,
        -0.04364660382270813,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.337299108505249,
        -0.41342490911483765,
        7.21102014722419e-06,
        -0.9528493285179138,
        -1.2967737913131714,
        0.16471317410469055,
        0.9966341853141785,
        0.8072205781936646,
        0.0286022387444973,
        0.13394910097122192,
        -0.3953404426574707,
        -0.8897681832313538,
        -0.2280762940645218,
        -0.9079299569129944,
        0.34091535210609436,
        0.24380351603031158
      ],
      "bottle_position_world": [
        -0.2012283056974411,
        0.10019292682409286,
        0.8377219438552856
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        -3.443989044171758e-05,
        3.4115790185751393e-05,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.3000000000000003,
      "clearance_m": -0.00023800134658813477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425988107919693,
      "action": [
        1.0,
        0.18063725531101227,
        -1.0,
        -0.06655386090278625,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.336698055267334,
        -0.40940871834754944,
        5.060500370746013e-06,
        -0.9577826857566833,
        -1.2954643964767456,
        0.17640984058380127,
        0.9966452717781067,
        0.8088346123695374,
        0.029125183820724487,
        0.13107416033744812,
        -0.405375599861145,
        -0.8856121897697449,
        -0.22663185000419617,
        -0.9036449193954468,
        0.35073012113571167,
        0.24579378962516785
      ],
      "bottle_position_world": [
        -0.201227068901062,
        0.10018587112426758,
        0.8377352356910706
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        2.7062686058343388e-05,
        -6.2064873418421485e-06,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.35,
      "clearance_m": -0.00024330615997314453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259929358959198,
      "action": [
        1.0,
        0.1802547127008438,
        -1.0,
        -0.08776238560676575,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.336024045944214,
        -0.40523478388786316,
        -1.198764039145317e-07,
        -0.9628636837005615,
        -1.2943017482757568,
        0.18843619525432587,
        0.9966399073600769,
        0.8104715943336487,
        0.029663849622011185,
        0.12806560099124908,
        -0.41557615995407104,
        -0.8813019394874573,
        -0.22495241463184357,
        -0.8991398811340332,
        0.36072680354118347,
        0.24783855676651
      ],
      "bottle_position_world": [
        -0.20122870802879333,
        0.10018829256296158,
        0.837729275226593
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        -2.7321368634147802e-06,
        -2.0591915017575957e-06,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.4000000000000004,
      "clearance_m": -0.0002416372299194336,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599356174468994,
      "action": [
        1.0,
        0.17492924630641937,
        -1.0,
        -0.10952195525169373,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.335294008255005,
        -0.401016503572464,
        6.135785497463075e-07,
        -0.9681100249290466,
        -1.293300986289978,
        0.20072604715824127,
        0.9966391324996948,
        0.8121294975280762,
        0.03020106814801693,
        0.1250089704990387,
        -0.4258645176887512,
        -0.8768580555915833,
        -0.22306956350803375,
        -0.8944607973098755,
        0.3708661198616028,
        0.24979746341705322
      ],
      "bottle_position_world": [
        -0.2012292444705963,
        0.10018933564424515,
        0.8377305269241333
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        -1.4129323972156271e-05,
        2.064534555756836e-06,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.45,
      "clearance_m": -0.00024753808975219727,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259912073612213,
      "action": [
        1.0,
        0.1702980250120163,
        -1.0,
        -0.1294434368610382,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3345119953155518,
        -0.39673545956611633,
        -2.1155219656066038e-06,
        -0.973503589630127,
        -1.2924550771713257,
        0.2132626175880432,
        0.996638298034668,
        0.8138052225112915,
        0.030736437067389488,
        0.12189310789108276,
        -0.43623316287994385,
        -0.8722754120826721,
        -0.2209903597831726,
        -0.8896017074584961,
        0.38113319873809814,
        0.2516878843307495
      ],
      "bottle_position_world": [
        -0.2012297362089157,
        0.1001826673746109,
        0.8377248644828796
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        3.207483678124845e-05,
        -4.873434954788536e-05,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.5,
      "clearance_m": -0.00022161006927490234,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598506808280945,
      "action": [
        1.0,
        0.16538305580615997,
        -1.0,
        -0.14876964688301086,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3337442874908447,
        -0.3927983343601227,
        -6.4879045567067806e-06,
        -0.9787575602531433,
        -1.2918004989624023,
        0.2252897173166275,
        0.9966505765914917,
        0.8154060244560242,
        0.031225008890032768,
        0.11902602761983871,
        -0.44603726267814636,
        -0.867830753326416,
        -0.21890845894813538,
        -0.8849005699157715,
        0.3909365236759186,
        0.2532193064689636
      ],
      "bottle_position_world": [
        -0.20122762024402618,
        0.10018952935934067,
        0.8377516865730286
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        -3.90433206121088e-06,
        1.481965955463238e-05,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.5500000000000003,
      "clearance_m": -0.00022476911544799805,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598235607147217,
      "action": [
        1.0,
        0.16466639935970306,
        -1.0,
        -0.1670939028263092,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.33290696144104,
        -0.38870689272880554,
        -1.0047123396361712e-05,
        -0.9841581583023071,
        -1.2912849187850952,
        0.23762573301792145,
        0.9966458678245544,
        0.8170282244682312,
        0.03173001483082771,
        0.11602689325809479,
        -0.4559849500656128,
        -0.8632249236106873,
        -0.21661290526390076,
        -0.8799800276756287,
        0.40090230107307434,
        0.25478070974349976
      ],
      "bottle_position_world": [
        -0.2012268602848053,
        0.10018439590930939,
        0.8377478122711182
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        4.007384632132016e-05,
        -1.562756187922787e-05,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.6,
      "clearance_m": -0.00024181604385375977,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259895086288452,
      "action": [
        1.0,
        0.15924544632434845,
        -1.0,
        -0.1852085292339325,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.332021951675415,
        -0.38456982374191284,
        -8.358197192137595e-06,
        -0.9897160530090332,
        -1.2909152507781982,
        0.2502000629901886,
        0.996644914150238,
        0.8186703324317932,
        0.03223244100809097,
        0.11297954618930817,
        -0.46600377559661865,
        -0.8584762811660767,
        -0.21414852142333984,
        -0.8748866319656372,
        0.41099193692207336,
        0.2562413215637207
      ],
      "bottle_position_world": [
        -0.2012256383895874,
        0.10018695145845413,
        0.8377310037612915
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        2.9615122912218794e-05,
        1.1273355994489975e-05,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.6500000000000004,
      "clearance_m": -0.00021916627883911133,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259825050830841,
      "action": [
        1.0,
        0.1544085294008255,
        -1.0,
        -0.201742023229599,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3310930728912354,
        -0.3803691565990448,
        -9.424184099771082e-06,
        -0.9954137802124023,
        -1.2906839847564697,
        0.2629968822002411,
        0.9966443777084351,
        0.820329487323761,
        0.03273237496614456,
        0.1098729744553566,
        -0.4760868549346924,
        -0.8535809516906738,
        -0.2115221917629242,
        -0.8696156144142151,
        0.4211907386779785,
        0.2576192021369934
      ],
      "bottle_position_world": [
        -0.20122845470905304,
        0.10018644481897354,
        0.8377540707588196
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        1.3408630366029684e-05,
        -1.3482174836099148e-05,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.7,
      "clearance_m": -0.00024187564849853516,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599233984947205,
      "action": [
        1.0,
        0.14948849380016327,
        -1.0,
        -0.21709421277046204,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3301990032196045,
        -0.37650179862976074,
        -1.4693589946546126e-05,
        -1.0009431838989258,
        -1.2905887365341187,
        0.27524542808532715,
        0.9966562986373901,
        0.8219152688980103,
        0.033183589577674866,
        0.10701330751180649,
        -0.4856140911579132,
        -0.8488297462463379,
        -0.20896771550178528,
        -0.8645260334014893,
        0.43091481924057007,
        0.2586650550365448
      ],
      "bottle_position_world": [
        -0.20122988522052765,
        0.10018683224916458,
        0.8377301096916199
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        7.862361712795973e-07,
        -2.1730271328124218e-05,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.75,
      "clearance_m": -0.00023883581161499023,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259965717792511,
      "action": [
        1.0,
        0.1486663669347763,
        -1.0,
        -0.23307058215141296,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.329237937927246,
        -0.37248143553733826,
        -1.8352300685364753e-05,
        -1.006616234779358,
        -1.2906274795532227,
        0.2877857983112335,
        0.9966514110565186,
        0.8235206007957458,
        0.03365194424986839,
        0.10402250289916992,
        -0.4952663481235504,
        -0.8439111709594727,
        -0.2062181532382965,
        -0.8592178821563721,
        0.4407840073108673,
        0.2597206234931946
      ],
      "bottle_position_world": [
        -0.20122990012168884,
        0.10019446909427643,
        0.8377333283424377
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        -5.6698139815125614e-05,
        3.168186594848521e-05,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.8000000000000003,
      "clearance_m": -0.00025463104248046875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599716782569885,
      "action": [
        1.0,
        0.14325453341007233,
        -1.0,
        -0.24735036492347717,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3282370567321777,
        -0.3684142231941223,
        -1.5491736121475697e-05,
        -1.0124377012252808,
        -1.2907921075820923,
        0.3005421757698059,
        0.9966495633125305,
        0.8251450657844543,
        0.03411788120865822,
        0.10098345577716827,
        -0.504977285861969,
        -0.838840126991272,
        -0.20333653688430786,
        -0.8537380695343018,
        0.45075905323028564,
        0.2606687545776367
      ],
      "bottle_position_world": [
        -0.20122291147708893,
        0.10019327700138092,
        0.8377177119255066
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        1.5100072232598905e-06,
        7.535971235483885e-05,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.85,
      "clearance_m": -0.00024622678756713867,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259915351867676,
      "action": [
        1.0,
        0.13835223019123077,
        -1.0,
        -0.2600063383579254,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.327202320098877,
        -0.3642807602882385,
        -1.6381263776565902e-05,
        -1.0183887481689453,
        -1.2910740375518799,
        0.3134990334510803,
        0.9966481328010559,
        0.8267853260040283,
        0.03457948565483093,
        0.0978856086730957,
        -0.5147427320480347,
        -0.8336116075515747,
        -0.20032961666584015,
        -0.8480804562568665,
        0.4608275294303894,
        0.2615293264389038
      ],
      "bottle_position_world": [
        -0.2012212723493576,
        0.10019131749868393,
        0.8377267122268677
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        2.738770672294777e-05,
        7.332709355978295e-05,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.9000000000000004,
      "clearance_m": -0.0002478361129760742,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599961161613464,
      "action": [
        1.0,
        0.1333192139863968,
        -1.0,
        -0.2714928090572357,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3262205123901367,
        -0.36047208309173584,
        -2.202556061092764e-05,
        -1.0241464376449585,
        -1.291441559791565,
        0.325878381729126,
        0.9966596961021423,
        0.8283540606498718,
        0.03499104827642441,
        0.09503296762704849,
        -0.5239659547805786,
        -0.8285351991653442,
        -0.19745776057243347,
        -0.8426258563995361,
        0.47041505575180054,
        0.2620907425880432
      ],
      "bottle_position_world": [
        -0.20122835040092468,
        0.10019534826278687,
        0.8377240896224976
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        -5.19989880558569e-05,
        4.856940358877182e-05,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.95,
      "clearance_m": -0.0002595186233520508,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259948432445526,
      "action": [
        1.0,
        0.13229309022426605,
        -1.0,
        -0.2840772569179535,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3251776695251465,
        -0.35651111602783203,
        -2.4356155336136e-05,
        -1.0300413370132446,
        -1.291927456855774,
        0.3385310173034668,
        0.9966537952423096,
        0.8299403786659241,
        0.035420335829257965,
        0.09204979985952377,
        -0.533300518989563,
        -0.8232815265655518,
        -0.19441767036914825,
        -0.8369518518447876,
        0.48013031482696533,
        0.2626529932022095
      ],
      "bottle_position_world": [
        -0.20122261345386505,
        0.1001877412199974,
        0.837712824344635
      ],
      "bottle_quaternion_world": [
        0.7284746766090393,
        4.4711094233207405e-05,
        3.8988735468592495e-05,
        0.6850727200508118
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.0,
      "clearance_m": -0.0002601742744445801,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600852251052856,
      "action": [
        1.0,
        0.12679539620876312,
        -1.0,
        -0.2948521077632904,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3241043090820312,
        -0.35250070691108704,
        -2.0869985746685416e-05,
        -1.036075472831726,
        -1.292521595954895,
        0.3513815999031067,
        0.9966511130332947,
        0.831544816493988,
        0.03584498167037964,
        0.08901850879192352,
        -0.5426863431930542,
        -0.8178658485412598,
        -0.19127793610095978,
        -0.8311057090759277,
        0.48993757367134094,
        0.2631061375141144
      ],
      "bottle_position_world": [
        -0.2012355774641037,
        0.10019576549530029,
        0.8377124071121216
      ],
      "bottle_quaternion_world": [
        0.7284745573997498,
        -0.00010676254169084132,
        -1.4599238511436852e-06,
        0.6850729584693909
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.05,
      "clearance_m": -0.0002518892288208008,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260018467903137,
      "action": [
        1.0,
        0.12190742790699005,
        -1.0,
        -0.30354544520378113,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3230059146881104,
        -0.34842216968536377,
        -2.1040435967734084e-05,
        -1.0422288179397583,
        -1.2932095527648926,
        0.364414244890213,
        0.9966496825218201,
        0.833163857460022,
        0.0362655408680439,
        0.08592838048934937,
        -0.5521185398101807,
        -0.8122829794883728,
        -0.18804806470870972,
        -0.8250815868377686,
        0.49982213973999023,
        0.26347416639328003
      ],
      "bottle_position_world": [
        -0.20123231410980225,
        0.1001935675740242,
        0.8377211093902588
      ],
      "bottle_quaternion_world": [
        0.7284745573997498,
        -6.64955805405043e-05,
        7.299076060007792e-06,
        0.6850729584693909
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.1000000000000005,
      "clearance_m": -0.0002573728561401367,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600017786026,
      "action": [
        1.0,
        0.11679472029209137,
        -1.0,
        -0.31138816475868225,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3219733238220215,
        -0.3446602523326874,
        -2.777863664960023e-05,
        -1.048167109489441,
        -1.2939400672912598,
        0.37684881687164307,
        0.996660590171814,
        0.834713339805603,
        0.03663603961467743,
        0.08308227360248566,
        -0.5610243678092957,
        -0.8068616390228271,
        -0.18500393629074097,
        -0.8192790746688843,
        0.5092228651046753,
        0.263579398393631
      ],
      "bottle_position_world": [
        -0.20122675597667694,
        0.10019273310899734,
        0.8377147316932678
      ],
      "bottle_quaternion_world": [
        0.7284745573997498,
        -2.1916348487138748e-05,
        4.3342293793102726e-05,
        0.6850729584693909
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.15,
      "clearance_m": -0.0002524256706237793,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259898066520691,
      "action": [
        1.0,
        0.11535288393497467,
        -0.9843297004699707,
        -0.32130905985832214,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3208847045898438,
        -0.34076255559921265,
        -2.9413167794700712e-05,
        -1.0542776584625244,
        -1.2947642803192139,
        0.38955938816070557,
        0.9966537952423096,
        0.8362904787063599,
        0.0370255671441555,
        0.08012211322784424,
        -0.5700348615646362,
        -0.8012452125549316,
        -0.18184298276901245,
        -0.8132612109184265,
        0.5187509059906006,
        0.26363664865493774
      ],
      "bottle_position_world": [
        -0.20123043656349182,
        0.10017801076173782,
        0.8377207517623901
      ],
      "bottle_quaternion_world": [
        0.728474497795105,
        6.268490687943995e-05,
        -8.783941302681342e-05,
        0.6850728988647461
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.2,
      "clearance_m": -0.00025272369384765625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259963631629944,
      "action": [
        1.0,
        0.1095929890871048,
        -0.908302903175354,
        -0.32927581667900085,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.319765090942383,
        -0.33690398931503296,
        -3.0098852221271954e-05,
        -1.0607208013534546,
        -1.2956185340881348,
        0.4025416076183319,
        0.996648907661438,
        0.8379459381103516,
        0.03742193430662155,
        0.07720386981964111,
        -0.5791088938713074,
        -0.7954082489013672,
        -0.17877012491226196,
        -0.807096540927887,
        0.5284270644187927,
        0.2633633017539978
      ],
      "bottle_position_world": [
        -0.20123475790023804,
        0.10018301010131836,
        0.837719738483429
      ],
      "bottle_quaternion_world": [
        0.728474497795105,
        -5.457909992401255e-06,
        -8.485429862048477e-05,
        0.6850728988647461
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.25,
      "clearance_m": -0.0002586841583251953,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599737644195557,
      "action": [
        1.0,
        0.10323859751224518,
        -0.8345091938972473,
        -0.3373560607433319,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.318617105484009,
        -0.33309489488601685,
        -3.3100142900366336e-05,
        -1.0674923658370972,
        -1.296505331993103,
        0.4157857596874237,
        0.9966475367546082,
        0.839679479598999,
        0.03782294690608978,
        0.07433844357728958,
        -0.5882368087768555,
        -0.7893485426902771,
        -0.17580296099185944,
        -0.8007864356040955,
        0.538240909576416,
        0.2627509832382202
      ],
      "bottle_position_world": [
        -0.20122388005256653,
        0.10019080340862274,
        0.837713897228241
      ],
      "bottle_quaternion_world": [
        0.728474497795105,
        1.2812724889954552e-05,
        5.085900556878187e-05,
        0.6850728988647461
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.3,
      "clearance_m": -0.000244140625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259987771511078,
      "action": [
        1.0,
        0.0968061238527298,
        -0.7606218457221985,
        -0.3442130982875824,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.317539691925049,
        -0.3296915590763092,
        -4.696946780313738e-05,
        -1.0741980075836182,
        -1.297364592552185,
        0.4284956455230713,
        0.9966570734977722,
        0.8413969278335571,
        0.03817940503358841,
        0.07180872559547424,
        -0.5968719124794006,
        -0.7834188938140869,
        -0.1732027679681778,
        -0.7947356104850769,
        0.5476326942443848,
        0.26171401143074036
      ],
      "bottle_position_world": [
        -0.20122888684272766,
        0.1001957356929779,
        0.8377280831336975
      ],
      "bottle_quaternion_world": [
        0.728474497795105,
        -5.914791108807549e-05,
        4.7781304601812735e-05,
        0.6850728988647461
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.3500000000000005,
      "clearance_m": -0.0002548098564147949,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599382996559143,
      "action": [
        1.0,
        0.09360389411449432,
        -0.6888269782066345,
        -0.35403093695640564,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.316403388977051,
        -0.3262920677661896,
        -4.766885467688553e-05,
        -1.0812445878982544,
        -1.2982792854309082,
        0.44154757261276245,
        0.9966523051261902,
        0.8431928753852844,
        0.038559526205062866,
        0.06928934156894684,
        -0.6056098937988281,
        -0.7772442698478699,
        -0.1706705242395401,
        -0.7884954214096069,
        0.5571973919868469,
        0.26039671897888184
      ],
      "bottle_position_world": [
        -0.20122107863426208,
        0.10019049048423767,
        0.8377183675765991
      ],
      "bottle_quaternion_world": [
        0.728474497795105,
        3.4698547096922994e-05,
        6.973350537009537e-05,
        0.6850728988647461
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.4,
      "clearance_m": -0.0002579689025878906,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598795890808105,
      "action": [
        1.0,
        0.08673448860645294,
        -0.6239382028579712,
        -0.36060693860054016,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.315232276916504,
        -0.32301583886146545,
        -5.0711376388790086e-05,
        -1.0885281562805176,
        -1.2991952896118164,
        0.4548790752887726,
        0.9974825978279114,
        0.8450473546981812,
        0.038962606340646744,
        0.06688562035560608,
        -0.6144159436225891,
        -0.770824134349823,
        -0.16829608380794525,
        -0.7820883393287659,
        0.5668929219245911,
        0.25878649950027466
      ],
      "bottle_position_world": [
        -0.20122197270393372,
        0.1001829281449318,
        0.8377213478088379
      ],
      "bottle_quaternion_world": [
        0.728474497795105,
        8.415042248088866e-05,
        9.414018677489366e-06,
        0.6850728988647461
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.45,
      "clearance_m": -0.00025725364685058594,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425991952419281,
      "action": [
        1.0,
        0.02642906829714775,
        -0.38647255301475525,
        -0.26533928513526917,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3145227432250977,
        -0.32135602831840515,
        -0.00011073670611949638,
        -1.095170021057129,
        -1.299419641494751,
        0.4685070216655731,
        1.0038857460021973,
        0.8468208312988281,
        0.039185989648103714,
        0.06586333364248276,
        -0.6236310005187988,
        -0.7636725902557373,
        -0.16700047254562378,
        -0.7753481268882751,
        0.5770496129989624,
        0.25661131739616394
      ],
      "bottle_position_world": [
        -0.20121635496616364,
        0.10019040107727051,
        0.8377155065536499
      ],
      "bottle_quaternion_world": [
        0.728474497795105,
        6.79808363202028e-05,
        0.00010360146552557126,
        0.6850728988647461
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.5,
      "clearance_m": -0.00025838613510131836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259890019893646,
      "action": [
        1.0,
        0.061346691101789474,
        -0.5116233229637146,
        -0.35357776284217834,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.313710927963257,
        -0.32028210163116455,
        -0.00014140909479465336,
        -1.1009737253189087,
        -1.3007020950317383,
        0.48183515667915344,
        1.0073760747909546,
        0.8483038544654846,
        0.039258237928152084,
        0.0651979148387909,
        -0.6324142813682556,
        -0.7568899989128113,
        -0.16483436524868011,
        -0.7687052488327026,
        0.5869342684745789,
        0.254167377948761
      ],
      "bottle_position_world": [
        -0.20123076438903809,
        0.10017329454421997,
        0.8377143144607544
      ],
      "bottle_quaternion_world": [
        0.728474497795105,
        9.456570842303336e-05,
        -0.00012355978833511472,
        0.6850728988647461
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.000681459903717041
    },
    {
      "t_s": 4.55,
      "clearance_m": -0.00025534629821777344,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425988107919693,
      "action": [
        1.0,
        0.048482488840818405,
        -0.4275033175945282,
        -0.348792165517807,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3130171298980713,
        -0.3196321129798889,
        -0.00014407253183890134,
        -1.1069225072860718,
        -1.3021537065505981,
        0.49548572301864624,
        1.009259581565857,
        0.8498272895812988,
        0.03918018192052841,
        0.06487423926591873,
        -0.6413624286651611,
        -0.7497656345367432,
        -0.1628069132566452,
        -0.7618054747581482,
        0.5971108078956604,
        0.251219779253006
      ],
      "bottle_position_world": [
        -0.2012263387441635,
        0.10017741471529007,
        0.8377174735069275
      ],
      "bottle_quaternion_world": [
        0.7284744381904602,
        9.494696132605895e-05,
        -6.224862590897828e-05,
        0.6850730180740356
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0006960630416870117
    },
    {
      "t_s": 4.6000000000000005,
      "clearance_m": -0.000253140926361084,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598244547843933,
      "action": [
        1.0,
        0.05949319526553154,
        -0.4583297669887543,
        -0.3654014766216278,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3122923374176025,
        -0.3190259337425232,
        -0.0001459763734601438,
        -1.1128883361816406,
        -1.3039249181747437,
        0.5093703269958496,
        1.0104292631149292,
        0.8513370156288147,
        0.039044931530952454,
        0.06457265466451645,
        -0.6503573656082153,
        -0.7424599528312683,
        -0.16058984398841858,
        -0.7546694278717041,
        0.607390820980072,
        0.2480948120355606
      ],
      "bottle_position_world": [
        -0.20121556520462036,
        0.10017978399991989,
        0.837719738483429
      ],
      "bottle_quaternion_world": [
        0.7284744381904602,
        0.00015290682495106012,
        3.4790286008501425e-05,
        0.6850730180740356
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007047653198242188
    },
    {
      "t_s": 4.65,
      "clearance_m": -0.00025516748428344727,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600253224372864,
      "action": [
        1.0,
        0.06262572109699249,
        -0.45091983675956726,
        -0.3678257167339325,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.31156587600708,
        -0.31851622462272644,
        -0.00014745663793291897,
        -1.1189277172088623,
        -1.305858850479126,
        0.5234528183937073,
        1.011159896850586,
        0.8528605699539185,
        0.038866180926561356,
        0.06435224413871765,
        -0.6593856811523438,
        -0.734931230545044,
        -0.15838909149169922,
        -0.7473158836364746,
        0.6177476644515991,
        0.2447596788406372
      ],
      "bottle_position_world": [
        -0.20123612880706787,
        0.10018929839134216,
        0.8377172350883484
      ],
      "bottle_quaternion_world": [
        0.728474497795105,
        -6.373220821842551e-05,
        -5.269030589261092e-05,
        0.6850730180740356
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007131100283004344
    },
    {
      "t_s": 4.7,
      "clearance_m": -0.0002555251121520996,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600059509277344,
      "action": [
        1.0,
        0.06709332764148712,
        -0.45050832629203796,
        -0.3657895028591156,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3108747005462646,
        -0.3180905282497406,
        -0.00015542941400781274,
        -1.12466299533844,
        -1.3077729940414429,
        0.5368791818618774,
        1.011655330657959,
        0.8543061017990112,
        0.03867819160223007,
        0.06419765949249268,
        -0.6679095029830933,
        -0.7276308536529541,
        -0.1563660055398941,
        -0.7401870489120483,
        0.6275398135185242,
        0.24148887395858765
      ],
      "bottle_position_world": [
        -0.20123645663261414,
        0.10018660873174667,
        0.8377178907394409
      ],
      "bottle_quaternion_world": [
        0.728474497795105,
        -4.514997999649495e-05,
        -7.346836355281994e-05,
        0.6850730180740356
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007368326187133789
    },
    {
      "t_s": 4.75,
      "clearance_m": -0.00025200843811035156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260064959526062,
      "action": [
        1.0,
        0.07279808819293976,
        -0.44161257147789,
        -0.3681575357913971,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.310157299041748,
        -0.31767138838768005,
        -0.00015065244224388152,
        -1.1305798292160034,
        -1.3098281621932983,
        0.5505629181861877,
        1.0118926763534546,
        0.8557915687561035,
        0.03846903517842293,
        0.06405258923768997,
        -0.676494836807251,
        -0.7200865745544434,
        -0.15437115728855133,
        -0.7328210473060608,
        0.6374310851097107,
        0.23802371323108673
      ],
      "bottle_position_world": [
        -0.201235830783844,
        0.10019692033529282,
        0.8377206921577454
      ],
      "bottle_quaternion_world": [
        0.728474497795105,
        -0.00011821935913758352,
        3.5685714010469383e-06,
        0.6850730180740356
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007368326187133789
    },
    {
      "t_s": 4.800000000000001,
      "clearance_m": -0.0002562999725341797,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260008633136749,
      "action": [
        1.0,
        0.07627959549427032,
        -0.44146212935447693,
        -0.3637275993824005,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3094239234924316,
        -0.31724807620048523,
        -0.00014737620949745178,
        -1.1365970373153687,
        -1.311957836151123,
        0.5644175410270691,
        1.0120816230773926,
        0.8573007583618164,
        0.03825071454048157,
        0.06391490995883942,
        -0.6850968599319458,
        -0.7123218178749084,
        -0.15244616568088531,
        -0.7252413034439087,
        0.6473476886749268,
        0.23444849252700806
      ],
      "bottle_position_world": [
        -0.2012353390455246,
        0.10018707066774368,
        0.8377161622047424
      ],
      "bottle_quaternion_world": [
        0.728474497795105,
        -4.0841983718564734e-05,
        -6.277979264268652e-05,
        0.6850730180740356
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007368326187133789
    },
    {
      "t_s": 4.8500000000000005,
      "clearance_m": -0.0002588033676147461,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598989605903625,
      "action": [
        1.0,
        0.07951630651950836,
        -0.4383741319179535,
        -0.3569229543209076,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3086795806884766,
        -0.31682369112968445,
        -0.00014596935943700373,
        -1.1427072286605835,
        -1.3141365051269531,
        0.5784278512001038,
        1.012244701385498,
        0.8588334321975708,
        0.038026418536901474,
        0.06378936767578125,
        -0.693706214427948,
        -0.7043336033821106,
        -0.15061968564987183,
        -0.7174497246742249,
        0.65727299451828,
        0.23077823221683502
      ],
      "bottle_position_world": [
        -0.2012195587158203,
        0.10018394142389297,
        0.837713897228241
      ],
      "bottle_quaternion_world": [
        0.7284741997718811,
        9.375591616844758e-05,
        3.3670454286038876e-05,
        0.6850733160972595
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007368326187133789
    },
    {
      "t_s": 4.9,
      "clearance_m": -0.00024956464767456055,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598724365234375,
      "action": [
        1.0,
        0.0826651006937027,
        -0.43550798296928406,
        -0.34901925921440125,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.307969808578491,
        -0.31644508242607117,
        -0.00015172731946222484,
        -1.1485182046890259,
        -1.3162155151367188,
        0.5917652249336243,
        1.0124356746673584,
        0.8602927923202515,
        0.03781456872820854,
        0.06370307505130768,
        -0.7018181085586548,
        -0.6965976357460022,
        -0.14900802075862885,
        -0.7099115252494812,
        0.666621744632721,
        0.22724713385105133
      ],
      "bottle_position_world": [
        -0.20122039318084717,
        0.10018416494131088,
        0.8377230763435364
      ],
      "bottle_quaternion_world": [
        0.7284741997718811,
        8.625600457889959e-05,
        2.8767100957338698e-05,
        0.6850733160972595
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 4.95,
      "clearance_m": -0.00025475025177001953,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259997606277466,
      "action": [
        1.0,
        0.08778657019138336,
        -0.42647048830986023,
        -0.3474843204021454,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.307234287261963,
        -0.3160492479801178,
        -0.00014713215932715684,
        -1.1545180082321167,
        -1.3183940649032593,
        0.6053414940834045,
        1.012465000152588,
        0.8617963194847107,
        0.03759164363145828,
        0.06361281871795654,
        -0.7099735140800476,
        -0.688614547252655,
        -0.14747217297554016,
        -0.7021360397338867,
        0.6760380268096924,
        0.22355735301971436
      ],
      "bottle_position_world": [
        -0.20123305916786194,
        0.10018827021121979,
        0.8377177715301514
      ],
      "bottle_quaternion_world": [
        0.7284741997718811,
        -3.3818625524872914e-05,
        -3.7289988540578634e-05,
        0.6850732564926147
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.0,
      "clearance_m": -0.00025027990341186523,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599204182624817,
      "action": [
        1.0,
        0.09122370183467865,
        -0.4264647662639618,
        -0.3403575122356415,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.306483030319214,
        -0.3156355023384094,
        -0.00014285126235336065,
        -1.1606193780899048,
        -1.3206192255020142,
        0.6190782189369202,
        1.012534260749817,
        0.8633248805999756,
        0.03736734762787819,
        0.06352078914642334,
        -0.7181325554847717,
        -0.680411696434021,
        -0.14603449404239655,
        -0.6941477060317993,
        0.6854573488235474,
        0.21978996694087982
      ],
      "bottle_position_world": [
        -0.20122405886650085,
        0.10018721222877502,
        0.8377219438552856
      ],
      "bottle_quaternion_world": [
        0.7284741997718811,
        3.7464298657141626e-05,
        2.2412637918023393e-05,
        0.6850732564926147
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.050000000000001,
      "clearance_m": -0.00025135278701782227,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259972870349884,
      "action": [
        1.0,
        0.09399138391017914,
        -0.423616498708725,
        -0.3315100371837616,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.305724620819092,
        -0.31521058082580566,
        -0.00014365091919898987,
        -1.1668118238449097,
        -1.322873830795288,
        0.632960855960846,
        1.012623906135559,
        0.8648775219917297,
        0.037139128893613815,
        0.06343616545200348,
        -0.7262864708900452,
        -0.6719861030578613,
        -0.14471755921840668,
        -0.6859467625617981,
        0.6948677897453308,
        0.21595443785190582
      ],
      "bottle_position_world": [
        -0.20122578740119934,
        0.10019280761480331,
        0.8377212882041931
      ],
      "bottle_quaternion_world": [
        0.7284741997718811,
        -1.6349558791262098e-05,
        4.903702574665658e-05,
        0.6850732564926147
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.1000000000000005,
      "clearance_m": -0.0002532005310058594,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259905219078064,
      "action": [
        1.0,
        0.09707237780094147,
        -0.42168697714805603,
        -0.32190701365470886,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3050029277801514,
        -0.3148277997970581,
        -0.00014651250967290252,
        -1.1726970672607422,
        -1.325008511543274,
        0.6461708545684814,
        1.0127832889556885,
        0.8663545846939087,
        0.03692707419395447,
        0.06338486075401306,
        -0.7339583039283752,
        -0.6638407707214355,
        -0.1436004936695099,
        -0.6780232787132263,
        0.703715443611145,
        0.2122957855463028
      ],
      "bottle_position_world": [
        -0.20122206211090088,
        0.1001853495836258,
        0.8377191424369812
      ],
      "bottle_quaternion_world": [
        0.7284741997718811,
        6.575797306140885e-05,
        2.423090518277604e-05,
        0.6850732564926147
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.15,
      "clearance_m": -0.0002548694610595703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260023534297943,
      "action": [
        1.0,
        0.1018269807100296,
        -0.41291794180870056,
        -0.31920769810676575,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3042569160461426,
        -0.3144247829914093,
        -0.00014182257291395217,
        -1.1787664890289307,
        -1.3272335529327393,
        0.6596126556396484,
        1.012776494026184,
        0.8678753972053528,
        0.036705806851387024,
        0.0633300244808197,
        -0.741659939289093,
        -0.6554482579231262,
        -0.14257879555225372,
        -0.6698599457740784,
        0.7126133441925049,
        0.20849597454071045
      ],
      "bottle_position_world": [
        -0.201236754655838,
        0.10018883645534515,
        0.8377179503440857
      ],
      "bottle_quaternion_world": [
        0.7284741997718811,
        -6.358185055432841e-05,
        -6.15596363786608e-05,
        0.6850732564926147
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.2,
      "clearance_m": -0.0002530813217163086,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259953200817108,
      "action": [
        1.0,
        0.10511700809001923,
        -0.4136846363544464,
        -0.3110373914241791,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.303497552871704,
        -0.31400036811828613,
        -0.0001399832544848323,
        -1.184933066368103,
        -1.3294962644577026,
        0.6732091307640076,
        1.012826681137085,
        0.86942058801651,
        0.03648373857140541,
        0.06327273696660995,
        -0.7493531703948975,
        -0.6468389630317688,
        -0.14166764914989471,
        -0.6614839434623718,
        0.7215004563331604,
        0.20463794469833374
      ],
      "bottle_position_world": [
        -0.20122289657592773,
        0.10019159317016602,
        0.8377195000648499
      ],
      "bottle_quaternion_world": [
        0.7284741997718811,
        1.2477415111789014e-05,
        6.134314753580838e-05,
        0.6850732564926147
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.25,
      "clearance_m": -0.0002504587173461914,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259956479072571,
      "action": [
        1.0,
        0.10771234333515167,
        -0.4113443195819855,
        -0.3011232316493988,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3027329444885254,
        -0.3135654628276825,
        -0.00013892012066207826,
        -1.1911888122558594,
        -1.3317781686782837,
        0.6869456768035889,
        1.0129019021987915,
        0.8709889650344849,
        0.03625929728150368,
        0.0632232129573822,
        -0.7570292353630066,
        -0.6380106210708618,
        -0.14088968932628632,
        -0.652896523475647,
        0.7303648591041565,
        0.20073360204696655
      ],
      "bottle_position_world": [
        -0.2012321949005127,
        0.10018550604581833,
        0.8377222418785095
      ],
      "bottle_quaternion_world": [
        0.7284741997718811,
        -7.600166554766474e-06,
        -5.1365397666813806e-05,
        0.6850732564926147
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.300000000000001,
      "clearance_m": -0.00025898218154907227,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.426005095243454,
      "action": [
        1.0,
        0.11066301167011261,
        -0.41015544533729553,
        -0.29074665904045105,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3020083904266357,
        -0.3131718039512634,
        -0.00014027069846633822,
        -1.1971306800842285,
        -1.333932876586914,
        0.7000138163566589,
        1.0130596160888672,
        0.8724800944328308,
        0.0360499806702137,
        0.06320413202047348,
        -0.7642402648925781,
        -0.6294893026351929,
        -0.1402871459722519,
        -0.6446092128753662,
        0.7386873960494995,
        0.19702841341495514
      ],
      "bottle_position_world": [
        -0.2012377679347992,
        0.10018963366746902,
        0.8377135992050171
      ],
      "bottle_quaternion_world": [
        0.7284743785858154,
        -7.75663647800684e-05,
        -6.340469553833827e-05,
        0.6850731372833252
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.3500000000000005,
      "clearance_m": -0.0002592802047729492,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260055720806122,
      "action": [
        1.0,
        0.11524112522602081,
        -0.4020654857158661,
        -0.286994606256485,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.301262140274048,
        -0.312756210565567,
        -0.00013780441076960415,
        -1.2032498121261597,
        -1.336168885231018,
        0.713307797908783,
        1.013038992881775,
        0.8740140795707703,
        0.035832278430461884,
        0.06318342685699463,
        -0.7714678645133972,
        -0.620721161365509,
        -0.13979633152484894,
        -0.6360800266265869,
        0.747044563293457,
        0.19320175051689148
      ],
      "bottle_position_world": [
        -0.20123793184757233,
        0.10019004344940186,
        0.837713360786438
      ],
      "bottle_quaternion_world": [
        0.728475034236908,
        -8.162485755747184e-05,
        -6.195680907694623e-05,
        0.6850723624229431
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.4,
      "clearance_m": -0.00025898218154907227,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260038733482361,
      "action": [
        1.0,
        0.11826534569263458,
        -0.4034000337123871,
        -0.2780413329601288,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.300503969192505,
        -0.3123190402984619,
        -0.00013740170106757432,
        -1.2094630002975464,
        -1.3384345769882202,
        0.7267510294914246,
        1.0130817890167236,
        0.8755714893341064,
        0.03561494126915932,
        0.06316102296113968,
        -0.7786747217178345,
        -0.6117404699325562,
        -0.1394256055355072,
        -0.6273400187492371,
        0.7553783655166626,
        0.1893361359834671
      ],
      "bottle_position_world": [
        -0.20123715698719025,
        0.1001884937286377,
        0.8377137184143066
      ],
      "bottle_quaternion_world": [
        0.7284756898880005,
        -6.496717833215371e-05,
        -6.731857138220221e-05,
        0.6850717663764954
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.45,
      "clearance_m": -0.00025963783264160156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259995222091675,
      "action": [
        1.0,
        0.12085022032260895,
        -0.4018230736255646,
        -0.2673182189464569,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2997264862060547,
        -0.3119474947452545,
        -0.00014581512368749827,
        -1.2156250476837158,
        -1.3406918048858643,
        0.740360677242279,
        1.0138473510742188,
        0.8771172761917114,
        0.03542082756757736,
        0.06320568919181824,
        -0.785868763923645,
        -0.6025303602218628,
        -0.13916829228401184,
        -0.6183691620826721,
        0.7636814117431641,
        0.1855006068944931
      ],
      "bottle_position_world": [
        -0.20123431086540222,
        0.1001843735575676,
        0.8377128839492798
      ],
      "bottle_quaternion_world": [
        0.7284764647483826,
        -1.4536289199895691e-05,
        -7.583280967082828e-05,
        0.685070812702179
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.5,
      "clearance_m": -0.00025922060012817383,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599111795425415,
      "action": [
        1.0,
        0.11657030880451202,
        -0.38338884711265564,
        -0.2535301148891449,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2990481853485107,
        -0.31159350275993347,
        -0.00012408812472131103,
        -1.2217680215835571,
        -1.3428031206130981,
        0.753232479095459,
        1.012727975845337,
        0.8786632418632507,
        0.0351826511323452,
        0.0632701963186264,
        -0.7925699949264526,
        -0.593668520450592,
        -0.13925044238567352,
        -0.6097809672355652,
        0.7714605331420898,
        0.18170346319675446
      ],
      "bottle_position_world": [
        -0.2012230008840561,
        0.10018262267112732,
        0.8377137184143066
      ],
      "bottle_quaternion_world": [
        0.7284770011901855,
        7.839603495085612e-05,
        -3.230423089917167e-06,
        0.6850703358650208
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.550000000000001,
      "clearance_m": -0.0002580881118774414,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600399255752563,
      "action": [
        1.0,
        0.13757891952991486,
        -0.4280901253223419,
        -0.26237770915031433,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2982425689697266,
        -0.31103721261024475,
        -0.000137228867970407,
        -1.2278273105621338,
        -1.3451188802719116,
        0.7663789391517639,
        1.0133717060089111,
        0.8801725506782532,
        0.03500711917877197,
        0.06316599994897842,
        -0.7992988228797913,
        -0.5846186280250549,
        -0.1390792727470398,
        -0.6009187698364258,
        0.7792359590530396,
        0.1780124306678772
      ],
      "bottle_position_world": [
        -0.20123587548732758,
        0.10019014775753021,
        0.8377144932746887
      ],
      "bottle_quaternion_world": [
        0.7284770607948303,
        -6.847816257504746e-05,
        -4.6502409531967714e-05,
        0.685070276260376
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.6000000000000005,
      "clearance_m": -0.00025475025177001953,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598757147789,
      "action": [
        1.0,
        0.12787438929080963,
        -0.38443782925605774,
        -0.24035272002220154,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2975099086761475,
        -0.3106202185153961,
        -0.00013515543832909316,
        -1.2340848445892334,
        -1.3473328351974487,
        0.7796463966369629,
        1.0133023262023926,
        0.8817437291145325,
        0.034788258373737335,
        0.06320898979902267,
        -0.8059945106506348,
        -0.5752984881401062,
        -0.13930058479309082,
        -0.5918481945991516,
        0.7870003581047058,
        0.17420117557048798
      ],
      "bottle_position_world": [
        -0.20122376084327698,
        0.10017906874418259,
        0.8377178311347961
      ],
      "bottle_quaternion_world": [
        0.7284770607948303,
        9.910457447404042e-05,
        -3.400999048608355e-05,
        0.685070276260376
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.65,
      "clearance_m": -0.0002664327621459961,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260067939758301,
      "action": [
        1.0,
        0.13302792608737946,
        -0.39722713828086853,
        -0.23068270087242126,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2967636585235596,
        -0.3101489841938019,
        -0.0001341725146630779,
        -1.240395188331604,
        -1.3495713472366333,
        0.7930457592010498,
        1.0134333372116089,
        0.8833258152008057,
        0.034575048834085464,
        0.06321902573108673,
        -0.8126519918441772,
        -0.5657816529273987,
        -0.13960158824920654,
        -0.5825689435005188,
        0.7947139143943787,
        0.17042270302772522
      ],
      "bottle_position_world": [
        -0.20123198628425598,
        0.10019639134407043,
        0.8377124667167664
      ],
      "bottle_quaternion_world": [
        0.7284773588180542,
        -8.753477595746517e-05,
        2.665771717147436e-05,
        0.6850698590278625
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.7,
      "clearance_m": -0.00026726722717285156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259873330593109,
      "action": [
        1.0,
        0.13490243256092072,
        -0.39512988924980164,
        -0.21900317072868347,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2960643768310547,
        -0.3097347319126129,
        -0.00013136315101291984,
        -1.2463856935501099,
        -1.351670503616333,
        0.8057892918586731,
        1.0136204957962036,
        0.8848288655281067,
        0.03437342867255211,
        0.06326808035373688,
        -0.818881630897522,
        -0.5566182136535645,
        -0.14003482460975647,
        -0.5736343860626221,
        0.8019351363182068,
        0.16686610877513885
      ],
      "bottle_position_world": [
        -0.2012164294719696,
        0.10018197447061539,
        0.8377118706703186
      ],
      "bottle_quaternion_world": [
        0.7284780740737915,
        0.00012979732127860188,
        4.106042251805775e-05,
        0.6850691437721252
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.75,
      "clearance_m": -0.0002605915069580078,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598915100097656,
      "action": [
        1.0,
        0.1390066295862198,
        -0.3879489004611969,
        -0.21399018168449402,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.295346975326538,
        -0.309297114610672,
        -0.00013187188596930355,
        -1.2525415420532227,
        -1.353837013244629,
        0.8187493681907654,
        1.0135903358459473,
        0.8863723874092102,
        0.03416517749428749,
        0.06331920623779297,
        -0.825100302696228,
        -0.5472120046615601,
        -0.14060136675834656,
        -0.5644571781158447,
        0.8091633319854736,
        0.1632266342639923
      ],
      "bottle_position_world": [
        -0.20122547447681427,
        0.10017681121826172,
        0.8377119898796082
      ],
      "bottle_quaternion_world": [
        0.7284793257713318,
        0.00010460308112669736,
        -6.289713928708807e-05,
        0.6850678324699402
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.800000000000001,
      "clearance_m": -0.00026166439056396484,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259919822216034,
      "action": [
        1.0,
        0.142051562666893,
        -0.39120492339134216,
        -0.20407572388648987,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2946205139160156,
        -0.30883681774139404,
        -0.00013444894284475595,
        -1.2587844133377075,
        -1.3560216426849365,
        0.8318520784378052,
        1.0136336088180542,
        0.8879374265670776,
        0.03395828232169151,
        0.06336882710456848,
        -0.8312751054763794,
        -0.5376039147377014,
        -0.14129476249217987,
        -0.5550756454467773,
        0.8163477182388306,
        0.1595865786075592
      ],
      "bottle_position_world": [
        -0.20123188197612762,
        0.10017483681440353,
        0.8377110362052917
      ],
      "bottle_quaternion_world": [
        0.7284804582595825,
        7.457257015630603e-05,
        -0.000124054349726066,
        0.6850666403770447
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.8500000000000005,
      "clearance_m": -0.00026023387908935547,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260066747665405,
      "action": [
        1.0,
        0.14453209936618805,
        -0.3909431993961334,
        -0.19231823086738586,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.293895721435547,
        -0.3083680272102356,
        -0.00013172188482712954,
        -1.2651104927062988,
        -1.3582038879394531,
        0.8450837135314941,
        1.0136997699737549,
        0.8895230889320374,
        0.033749744296073914,
        0.06342703104019165,
        -0.837397038936615,
        -0.5277915596961975,
        -0.14213499426841736,
        -0.5454908013343811,
        0.8234780430793762,
        0.15596146881580353
      ],
      "bottle_position_world": [
        -0.20123694837093353,
        0.10019195079803467,
        0.8377124071121216
      ],
      "bottle_quaternion_world": [
        0.7284814715385437,
        -8.920367690734565e-05,
        -4.083229578100145e-05,
        0.6850655674934387
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.9,
      "clearance_m": -0.0002655982971191406,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259917736053467,
      "action": [
        1.0,
        0.14679600298404694,
        -0.3932296931743622,
        -0.18072447180747986,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.293215274810791,
        -0.30793988704681396,
        -0.00012755226634908468,
        -1.271111011505127,
        -1.360249638557434,
        0.8576650619506836,
        1.0138792991638184,
        0.8910273909568787,
        0.03355426713824272,
        0.06350713968276978,
        -0.8431117534637451,
        -0.5183600187301636,
        -0.14306017756462097,
        -0.536273717880249,
        0.8301393985748291,
        0.1525769978761673
      ],
      "bottle_position_world": [
        -0.201228529214859,
        0.10017861425876617,
        0.8377133011817932
      ],
      "bottle_quaternion_world": [
        0.728482186794281,
        6.909944931976497e-05,
        -7.234154327306896e-05,
        0.6850647330284119
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 5.95,
      "clearance_m": -0.00025779008865356445,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599231004714966,
      "action": [
        1.0,
        0.1506408303976059,
        -0.3856601417064667,
        -0.17499694228172302,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.292518377304077,
        -0.30748939514160156,
        -0.00012983052874915302,
        -1.2772730588912964,
        -1.3623524904251099,
        0.8704594969749451,
        1.0138312578201294,
        0.8925714492797852,
        0.033353399485349655,
        0.06359271705150604,
        -0.8488014340400696,
        -0.5086877942085266,
        -0.1441306173801422,
        -0.5268154144287109,
        0.8367953896522522,
        0.14912989735603333
      ],
      "bottle_position_world": [
        -0.20122919976711273,
        0.10017956048250198,
        0.8377148509025574
      ],
      "bottle_quaternion_world": [
        0.7284824252128601,
        5.7564539019949734e-05,
        -7.061284122755751e-05,
        0.6850644946098328
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.0,
      "clearance_m": -0.0002575516700744629,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259938895702362,
      "action": [
        1.0,
        0.1535937637090683,
        -0.3895932137966156,
        -0.16450831294059753,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2918152809143066,
        -0.30701562762260437,
        -0.00013107834092807025,
        -1.2835222482681274,
        -1.3644649982452393,
        0.883393406867981,
        1.01386296749115,
        0.8941365480422974,
        0.03315425664186478,
        0.06367582827806473,
        -0.8544358611106873,
        -0.49881765246391296,
        -0.14532968401908875,
        -0.5171563029289246,
        0.8433979749679565,
        0.14570355415344238
      ],
      "bottle_position_world": [
        -0.2012237161397934,
        0.10018666833639145,
        0.837715208530426
      ],
      "bottle_quaternion_world": [
        0.728483259677887,
        4.273056038073264e-05,
        2.0361811039038002e-05,
        0.6850636005401611
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.050000000000001,
      "clearance_m": -0.00025463104248046875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259961247444153,
      "action": [
        1.0,
        0.1557481437921524,
        -0.390132337808609,
        -0.15256258845329285,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.291116237640381,
        -0.3065315783023834,
        -0.00012859034177381545,
        -1.289852499961853,
        -1.3665698766708374,
        0.8964530229568481,
        1.0139230489730835,
        0.8957217335700989,
        0.032952554523944855,
        0.06376725435256958,
        -0.8600061535835266,
        -0.48874959349632263,
        -0.14667469263076782,
        -0.5072991251945496,
        0.8499383926391602,
        0.1423107087612152
      ],
      "bottle_position_world": [
        -0.20123127102851868,
        0.10018475353717804,
        0.8377178907394409
      ],
      "bottle_quaternion_world": [
        0.728483259677887,
        3.6879418985336088e-06,
        -4.929123679175973e-05,
        0.6850636005401611
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.1000000000000005,
      "clearance_m": -0.0002568364143371582,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259943962097168,
      "action": [
        1.0,
        0.157998189330101,
        -0.39256229996681213,
        -0.14076581597328186,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.290461540222168,
        -0.3060896396636963,
        -0.0001234308147104457,
        -1.2958588600158691,
        -1.3685377836227417,
        0.9088703989982605,
        1.0140982866287231,
        0.8972256183624268,
        0.03276361525058746,
        0.0638788491487503,
        -0.8651901483535767,
        -0.47908225655555725,
        -0.14807572960853577,
        -0.49783089756965637,
        0.8560367226600647,
        0.13916054368019104
      ],
      "bottle_position_world": [
        -0.20122700929641724,
        0.10018476098775864,
        0.8377156257629395
      ],
      "bottle_quaternion_world": [
        0.728483259677887,
        3.368163379491307e-05,
        -1.7417598428437486e-05,
        0.6850636005401611
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.15,
      "clearance_m": -0.00025212764739990234,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259939193725586,
      "action": [
        1.0,
        0.16172988712787628,
        -0.3860470950603485,
        -0.13457855582237244,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2897911071777344,
        -0.30562299489974976,
        -0.00012600091577041894,
        -1.3020215034484863,
        -1.3705554008483887,
        0.9214979410171509,
        1.0140432119369507,
        0.8987680673599243,
        0.03257118910551071,
        0.06399566680192947,
        -0.8703356981277466,
        -0.4691787362098694,
        -0.1496250331401825,
        -0.4881243109703064,
        0.8621178269386292,
        0.13597100973129272
      ],
      "bottle_position_world": [
        -0.20122312009334564,
        0.10019011050462723,
        0.8377208709716797
      ],
      "bottle_quaternion_world": [
        0.728483259677887,
        2.122266414517071e-05,
        4.9890411901287735e-05,
        0.6850636005401611
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.2,
      "clearance_m": -0.00025147199630737305,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599165439605713,
      "action": [
        1.0,
        0.1645180732011795,
        -0.39041200280189514,
        -0.12374922633171082,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.289116382598877,
        -0.3051314949989319,
        -0.00013153177860658616,
        -1.3082691431045532,
        -1.3725762367248535,
        0.9342621564865112,
        1.0140703916549683,
        0.9003310799598694,
        0.03238034248352051,
        0.0641106590628624,
        -0.8754146695137024,
        -0.459082692861557,
        -0.15130352973937988,
        -0.4782223403453827,
        0.868137538433075,
        0.13281947374343872
      ],
      "bottle_position_world": [
        -0.2012237161397934,
        0.1001865416765213,
        0.8377211093902588
      ],
      "bottle_quaternion_world": [
        0.728483259677887,
        4.331506715971045e-05,
        1.992117176996544e-05,
        0.6850636005401611
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.25,
      "clearance_m": -0.000253140926361084,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599722743034363,
      "action": [
        1.0,
        0.1667637974023819,
        -0.39124956727027893,
        -0.11141857504844666,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.288447618484497,
        -0.3046323359012604,
        -0.00012677800259552896,
        -1.3146004676818848,
        -1.3745826482772827,
        0.9471510052680969,
        1.0141228437423706,
        0.9019137620925903,
        0.03218746557831764,
        0.06423383951187134,
        -0.8804187178611755,
        -0.4487934708595276,
        -0.15312634408473969,
        -0.4681277573108673,
        0.8740876317024231,
        0.12972116470336914
      ],
      "bottle_position_world": [
        -0.2012326717376709,
        0.10018587857484818,
        0.8377194404602051
      ],
      "bottle_quaternion_world": [
        0.728483259677887,
        -1.4805388673266862e-05,
        -5.121671347296797e-05,
        0.6850636005401611
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.300000000000001,
      "clearance_m": -0.00025588274002075195,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259949028491974,
      "action": [
        1.0,
        0.16888640820980072,
        -0.3945440948009491,
        -0.09958037734031677,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2878236770629883,
        -0.3041744828224182,
        -0.00012049951328663155,
        -1.3206077814102173,
        -1.3764547109603882,
        0.9594059586524963,
        1.0142983198165894,
        0.903415322303772,
        0.032005615532398224,
        0.06437472999095917,
        -0.8850595355033875,
        -0.4389231204986572,
        -0.15497371554374695,
        -0.4584411680698395,
        0.8796238303184509,
        0.12686340510845184
      ],
      "bottle_position_world": [
        -0.20122979581356049,
        0.10018353909254074,
        0.8377165198326111
      ],
      "bottle_quaternion_world": [
        0.728483259677887,
        2.286672497575637e-05,
        -4.62848438473884e-05,
        0.6850636005401611
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.3500000000000005,
      "clearance_m": -0.00025403499603271484,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259958863258362,
      "action": [
        1.0,
        0.17258097231388092,
        -0.38823816180229187,
        -0.09286364912986755,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.287184238433838,
        -0.30369070172309875,
        -0.0001244658778887242,
        -1.326768159866333,
        -1.378367304801941,
        0.9718686938285828,
        1.014233946800232,
        0.9049544930458069,
        0.03182265907526016,
        0.06452184915542603,
        -0.8896477222442627,
        -0.4288203716278076,
        -0.1569734811782837,
        -0.44852036237716675,
        0.8851310014724731,
        0.1239885538816452
      ],
      "bottle_position_world": [
        -0.20122450590133667,
        0.10019035637378693,
        0.8377181887626648
      ],
      "bottle_quaternion_world": [
        0.728483259677887,
        9.819028491619974e-06,
        4.237330358591862e-05,
        0.6850636005401611
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.4,
      "clearance_m": -0.0002486109733581543,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259973168373108,
      "action": [
        1.0,
        0.1753065139055252,
        -0.39342382550239563,
        -0.08186659216880798,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.28654408454895,
        -0.3031824827194214,
        -0.00012759969104081392,
        -1.333013892173767,
        -1.380278468132019,
        0.984466552734375,
        1.0142567157745361,
        0.9065138101577759,
        0.03163963183760643,
        0.06466652452945709,
        -0.8941597938537598,
        -0.41852906346321106,
        -0.15909764170646667,
        -0.4384087026119232,
        0.8905707597732544,
        0.12116911262273788
      ],
      "bottle_position_world": [
        -0.20123308897018433,
        0.10018842667341232,
        0.8377248644828796
      ],
      "bottle_quaternion_world": [
        0.728483259677887,
        -3.7111432902747765e-05,
        -3.600459240260534e-05,
        0.6850636005401611
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.45,
      "clearance_m": -0.00021451711654663086,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259851574897766,
      "action": [
        1.0,
        0.17749370634555817,
        -0.39459851384162903,
        -0.06926831603050232,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2859115600585938,
        -0.30266430974006653,
        -0.0001259001437574625,
        -1.3393425941467285,
        -1.3821691274642944,
        0.9971873164176941,
        1.014299988746643,
        0.908092737197876,
        0.03145456686615944,
        0.06481979787349701,
        -0.8985857963562012,
        -0.4080505073070526,
        -0.16136521100997925,
        -0.42811164259910583,
        0.895933985710144,
        0.11841949075460434
      ],
      "bottle_position_world": [
        -0.2012350857257843,
        0.10018623620271683,
        0.8377574682235718
      ],
      "bottle_quaternion_world": [
        0.728483259677887,
        -3.488402580842376e-05,
        -6.642055814154446e-05,
        0.6850636005401611
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.5,
      "clearance_m": -0.0002518892288208008,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259910583496094,
      "action": [
        1.0,
        0.17944712936878204,
        -0.3979770243167877,
        -0.05712959170341492,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2853221893310547,
        -0.3021911680698395,
        -0.00011653587716864422,
        -1.3453524112701416,
        -1.3839255571365356,
        1.0092825889587402,
        1.014469027519226,
        0.9095909595489502,
        0.03128122538328171,
        0.06498979032039642,
        -0.9026711583137512,
        -0.39800789952278137,
        -0.16362981498241425,
        -0.41824227571487427,
        0.9009103775024414,
        0.11590614169836044
      ],
      "bottle_position_world": [
        -0.20122969150543213,
        0.10018032789230347,
        0.8377206325531006
      ],
      "bottle_quaternion_world": [
        0.728483259677887,
        4.715895192930475e-05,
        -6.767533341189846e-05,
        0.6850636005401611
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.550000000000001,
      "clearance_m": -0.0002466440200805664,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598915100097656,
      "action": [
        1.0,
        0.18317152559757233,
        -0.39263078570365906,
        -0.050233036279678345,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2847182750701904,
        -0.30168816447257996,
        -0.00012147019151598215,
        -1.3515102863311768,
        -1.3857165575027466,
        1.0215842723846436,
        1.0143976211547852,
        0.9111257791519165,
        0.03110806830227375,
        0.06516480445861816,
        -0.90669184923172,
        -0.3877367675304413,
        -0.16604435443878174,
        -0.40814268589019775,
        0.9058482646942139,
        0.11339759826660156
      ],
      "bottle_position_world": [
        -0.2012331485748291,
        0.10017754137516022,
        0.8377261757850647
      ],
      "bottle_quaternion_world": [
        0.728483259677887,
        4.382724728202447e-05,
        -0.00011326561798341572,
        0.6850636005401611
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.6000000000000005,
      "clearance_m": -0.0002582073211669922,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599794268608093,
      "action": [
        1.0,
        0.1859699934720993,
        -0.3978172838687897,
        -0.03884616494178772,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2841150760650635,
        -0.30116063356399536,
        -0.00012716511264443398,
        -1.3577532768249512,
        -1.3874990940093994,
        1.0340205430984497,
        1.014410138130188,
        0.9126806259155273,
        0.030935367569327354,
        0.06533820927143097,
        -0.9106257557868958,
        -0.37728118896484375,
        -0.16858139634132385,
        -0.39785873889923096,
        0.9107118248939514,
        0.11096154898405075
      ],
      "bottle_position_world": [
        -0.20123332738876343,
        0.10018361359834671,
        0.8377141356468201
      ],
      "bottle_quaternion_world": [
        0.728483259677887,
        -3.4739757666102378e-06,
        -7.17052462277934e-05,
        0.6850636005401611
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.65,
      "clearance_m": -0.00026166439056396484,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599019408226013,
      "action": [
        1.0,
        0.18806253373622894,
        -0.3998720943927765,
        -0.02611711621284485,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.283520460128784,
        -0.30062320828437805,
        -0.00012312908074818552,
        -1.3640804290771484,
        -1.3892555236816406,
        1.0465787649154663,
        1.014448881149292,
        0.9142543077468872,
        0.03076126053929329,
        0.06551864743232727,
        -0.9144639372825623,
        -0.36664438247680664,
        -0.17125380039215088,
        -0.3873971402645111,
        0.9154925346374512,
        0.10861406475305557
      ],
      "bottle_position_world": [
        -0.2012227475643158,
        0.10018010437488556,
        0.8377108573913574
      ],
      "bottle_quaternion_world": [
        0.728483259677887,
        9.826904715737328e-05,
        -1.7589793060324155e-05,
        0.6850636005401611
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.7,
      "clearance_m": -0.0002581477165222168,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598962783813477,
      "action": [
        1.0,
        0.18976129591464996,
        -0.4041765630245209,
        -0.0143948495388031,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.282968282699585,
        -0.3001302480697632,
        -0.00011443782568676397,
        -1.370089054107666,
        -1.3908865451812744,
        1.058520793914795,
        1.0146175622940063,
        0.9157477021217346,
        0.03059675730764866,
        0.06571430712938309,
        -0.9179865717887878,
        -0.3564579486846924,
        -0.1738925725221634,
        -0.3773792088031769,
        0.9199158549308777,
        0.1064893826842308
      ],
      "bottle_position_world": [
        -0.20121796429157257,
        0.10018538683652878,
        0.8377147912979126
      ],
      "bottle_quaternion_world": [
        0.728483259677887,
        9.19936501304619e-05,
        5.538321420317516e-05,
        0.6850636005401611
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.75,
      "clearance_m": -0.0002588629722595215,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260009229183197,
      "action": [
        1.0,
        0.19334925711154938,
        -0.3987039029598236,
        -0.006753891706466675,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2824020385742188,
        -0.29960739612579346,
        -0.00011957839160459116,
        -1.376245141029358,
        -1.3925400972366333,
        1.0706669092178345,
        1.0145354270935059,
        0.9172773957252502,
        0.030435185879468918,
        0.0659157782793045,
        -0.921430766582489,
        -0.3460477888584137,
        -0.17668300867080688,
        -0.3671388626098633,
        0.9242897629737854,
        0.1043936088681221
      ],
      "bottle_position_world": [
        -0.20122480392456055,
        0.10019483417272568,
        0.8377135396003723
      ],
      "bottle_quaternion_world": [
        0.7284834980964661,
        -2.6432871891302057e-05,
        7.11928223608993e-05,
        0.6850634217262268
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.800000000000001,
      "clearance_m": -0.0002589225769042969,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600324749946594,
      "action": [
        1.0,
        0.1961403638124466,
        -0.4049350917339325,
        0.004837542772293091,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.281839370727539,
        -0.29905834794044495,
        -0.00012538174632936716,
        -1.3824864625930786,
        -1.3941797018051147,
        1.082946538925171,
        1.0145431756973267,
        0.9188263416290283,
        0.030273152515292168,
        0.06611411273479462,
        -0.9247794151306152,
        -0.3354572057723999,
        -0.1795887053012848,
        -0.3567204773426056,
        0.9285838603973389,
        0.1023871898651123
      ],
      "bottle_position_world": [
        -0.20123742520809174,
        0.10018733143806458,
        0.8377136588096619
      ],
      "bottle_quaternion_world": [
        0.7284843921661377,
        -6.000913344905712e-05,
        -7.6290663855616e-05,
        0.6850624680519104
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.8500000000000005,
      "clearance_m": -0.0002605915069580078,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259878695011139,
      "action": [
        1.0,
        0.19830293953418732,
        -0.4067114293575287,
        0.01792028546333313,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2812862396240234,
        -0.298500120639801,
        -0.00012110450188629329,
        -1.388813853263855,
        -1.3957855701446533,
        1.0953487157821655,
        1.0145694017410278,
        0.9203946590423584,
        0.030110856518149376,
        0.06632107496261597,
        -0.9280218482017517,
        -0.32468998432159424,
        -0.18262608349323273,
        -0.3461325764656067,
        0.9327889084815979,
        0.10048632323741913
      ],
      "bottle_position_world": [
        -0.20122143626213074,
        0.10017848759889603,
        0.8377120494842529
      ],
      "bottle_quaternion_world": [
        0.7284848093986511,
        0.00011873247422045097,
        -1.940961738000624e-05,
        0.6850619316101074
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.9,
      "clearance_m": -0.00025963783264160156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599552869796753,
      "action": [
        1.0,
        0.19986827671527863,
        -0.41165152192115784,
        0.029453426599502563,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2807745933532715,
        -0.29798784852027893,
        -0.00011027485015802085,
        -1.3948267698287964,
        -1.3972729444503784,
        1.1071436405181885,
        1.0147308111190796,
        0.9218831062316895,
        0.029956210404634476,
        0.06654174625873566,
        -0.9309747219085693,
        -0.314385324716568,
        -0.18560223281383514,
        -0.33600282669067383,
        0.9366655349731445,
        0.0987931489944458
      ],
      "bottle_position_world": [
        -0.2012363225221634,
        0.10017706453800201,
        0.8377130031585693
      ],
      "bottle_quaternion_world": [
        0.7284860014915466,
        2.4232938812929206e-05,
        -0.00014031225873623043,
        0.6850606799125671
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 6.95,
      "clearance_m": -0.00026112794876098633,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260043203830719,
      "action": [
        1.0,
        0.20369692146778107,
        -0.40658077597618103,
        0.037510067224502563,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2802491188049316,
        -0.29744163155555725,
        -0.00011817888298537582,
        -1.4009827375411987,
        -1.3987754583358765,
        1.1191426515579224,
        1.014638900756836,
        0.9234068989753723,
        0.02980681136250496,
        0.06676685065031052,
        -0.9338370561599731,
        -0.30386075377464294,
        -0.18872496485710144,
        -0.3256572186946869,
        0.9404835104942322,
        0.09715075045824051
      ],
      "bottle_position_world": [
        -0.20123781263828278,
        0.10018742084503174,
        0.8377114534378052
      ],
      "bottle_quaternion_world": [
        0.7284878492355347,
        -6.368466711137444e-05,
        -7.817516598151997e-05,
        0.6850587129592896
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.0,
      "clearance_m": -0.0002607107162475586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600345611572266,
      "action": [
        1.0,
        0.20648176968097687,
        -0.4130576550960541,
        0.04951980710029602,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.279728412628174,
        -0.2968701422214508,
        -0.00012335000792518258,
        -1.407225489616394,
        -1.4002563953399658,
        1.1312750577926636,
        1.0146361589431763,
        0.9249497652053833,
        0.02965785376727581,
        0.06698913872241974,
        -0.93659508228302,
        -0.2931601107120514,
        -0.19195646047592163,
        -0.31514185667037964,
        0.9442160129547119,
        0.09561515599489212
      ],
      "bottle_position_world": [
        -0.20122328400611877,
        0.1001989096403122,
        0.8377119898796082
      ],
      "bottle_quaternion_world": [
        0.7284888625144958,
        -4.683681618189439e-05,
        0.0001108676369767636,
        0.6850576400756836
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.050000000000001,
      "clearance_m": -0.00025975704193115234,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600196599960327,
      "action": [
        1.0,
        0.20823515951633453,
        -0.41539087891578674,
        0.06262198090553284,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.279219388961792,
        -0.29628756642341614,
        -0.00012041308946209028,
        -1.4135552644729614,
        -1.4016985893249512,
        1.143528938293457,
        1.0146536827087402,
        0.9265120029449463,
        0.029507702216506004,
        0.0672190710902214,
        -0.9392377138137817,
        -0.28228774666786194,
        -0.19531148672103882,
        -0.30446597933769226,
        0.9478539824485779,
        0.09420014917850494
      ],
      "bottle_position_world": [
        -0.20123685896396637,
        0.10018560290336609,
        0.8377128839492798
      ],
      "bottle_quaternion_world": [
        0.7284895181655884,
        -4.33320710726548e-05,
        -8.39210333651863e-05,
        0.6850569844245911
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.1000000000000005,
      "clearance_m": -0.00025916099548339844,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599061131477356,
      "action": [
        1.0,
        0.21014143526554108,
        -0.4207896292209625,
        0.07436433434486389,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.278749465942383,
        -0.2957529127597809,
        -0.00010899084736593068,
        -1.419573187828064,
        -1.4030286073684692,
        1.1551849842071533,
        1.014807939529419,
        0.927994966506958,
        0.029365360736846924,
        0.06746172904968262,
        -0.9416171312332153,
        -0.27188941836357117,
        -0.19857951998710632,
        -0.2942621111869812,
        0.9511916041374207,
        0.09297697991132736
      ],
      "bottle_position_world": [
        -0.20122136175632477,
        0.10018323361873627,
        0.8377135992050171
      ],
      "bottle_quaternion_world": [
        0.7284900546073914,
        8.406981214648113e-05,
        1.537049865873996e-05,
        0.6850563883781433
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.15,
      "clearance_m": -0.0002593398094177246,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260062575340271,
      "action": [
        1.0,
        0.2137284129858017,
        -0.41598281264305115,
        0.08249202370643616,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2782673835754395,
        -0.295183390378952,
        -0.00011403969256207347,
        -1.4257352352142334,
        -1.4043669700622559,
        1.167046070098877,
        1.0147062540054321,
        0.9295125007629395,
        0.029228491708636284,
        0.06770814955234528,
        -0.9438949823379517,
        -0.2612725794315338,
        -0.2019878327846527,
        -0.28384751081466675,
        0.9544626474380493,
        0.09182443469762802
      ],
      "bottle_position_world": [
        -0.20123229920864105,
        0.10019577294588089,
        0.8377131819725037
      ],
      "bottle_quaternion_world": [
        0.7284910678863525,
        -8.648644870845601e-05,
        2.2376345441443846e-05,
        0.6850553154945374
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.2,
      "clearance_m": -0.00026100873947143555,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259902238845825,
      "action": [
        1.0,
        0.2166614681482315,
        -0.4228300154209137,
        0.0946519672870636,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.277808427810669,
        -0.29468315839767456,
        -0.00012966751819476485,
        -1.4318770170211792,
        -1.4057140350341797,
        1.179049015045166,
        1.0157911777496338,
        0.9310248494148254,
        0.029069993644952774,
        0.06802895665168762,
        -0.9460687041282654,
        -0.25046205520629883,
        -0.20548291504383087,
        -0.2732424736022949,
        0.9576539993286133,
        0.09076234698295593
      ],
      "bottle_position_world": [
        -0.20121484994888306,
        0.10018733888864517,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.7284919023513794,
        9.926044731400907e-05,
        9.265333937946707e-05,
        0.6850544214248657
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.25,
      "clearance_m": -0.0002599358558654785,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259907901287079,
      "action": [
        1.0,
        0.2121417075395584,
        -0.40506044030189514,
        0.11201491951942444,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.277359962463379,
        -0.2941635847091675,
        -0.00010790895612444729,
        -1.43832528591156,
        -1.406903624534607,
        1.1911555528640747,
        1.014290690422058,
        0.9326111674308777,
        0.02893694117665291,
        0.06837107986211777,
        -0.9480674862861633,
        -0.23950335383415222,
        -0.20930030941963196,
        -0.26254037022590637,
        0.9607275724411011,
        0.08986341953277588
      ],
      "bottle_position_world": [
        -0.20122644305229187,
        0.10017868131399155,
        0.8377127647399902
      ],
      "bottle_quaternion_world": [
        0.7284936308860779,
        8.231882384279743e-05,
        -5.457771840156056e-05,
        0.6850526332855225
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.300000000000001,
      "clearance_m": -0.00026023387908935547,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260083734989166,
      "action": [
        1.0,
        0.23273535072803497,
        -0.4809863269329071,
        0.11295512318611145,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2769126892089844,
        -0.29341819882392883,
        -0.00010730647045420483,
        -1.4442260265350342,
        -1.4081979990005493,
        1.2026816606521606,
        1.015065312385559,
        0.9340493083000183,
        0.028795016929507256,
        0.06844418495893478,
        -0.9499383568763733,
        -0.22905080020427704,
        -0.21249228715896606,
        -0.25227004289627075,
        0.9635428786277771,
        0.08913633972406387
      ],
      "bottle_position_world": [
        -0.201241597533226,
        0.1001904159784317,
        0.8377124667167664
      ],
      "bottle_quaternion_world": [
        0.7284948825836182,
        -0.00011229182564420626,
        -8.460783283226192e-05,
        0.6850513219833374
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.3500000000000005,
      "clearance_m": -0.0002599358558654785,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600855231285095,
      "action": [
        1.0,
        0.22169159352779388,
        -0.41029444336891174,
        0.12806108593940735,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2764790058135986,
        -0.29286202788352966,
        -0.00011432191968197003,
        -1.4504200220108032,
        -1.4093607664108276,
        1.2144203186035156,
        1.0148429870605469,
        0.9355678558349609,
        0.028667643666267395,
        0.06875026226043701,
        -0.9516196250915527,
        -0.21835577487945557,
        -0.21619753539562225,
        -0.2418210357427597,
        0.9662787318229675,
        0.08847955614328384
      ],
      "bottle_position_world": [
        -0.20123469829559326,
        0.10019664466381073,
        0.8377126455307007
      ],
      "bottle_quaternion_world": [
        0.7284963130950928,
        -0.00010965216642944142,
        1.0946278052870184e-05,
        0.6850497126579285
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.4,
      "clearance_m": -0.00026106834411621094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260018467903137,
      "action": [
        1.0,
        0.22811366617679596,
        -0.43703141808509827,
        0.14109650254249573,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2760541439056396,
        -0.29222315549850464,
        -0.00011922339035663754,
        -1.4566576480865479,
        -1.4105063676834106,
        1.2262850999832153,
        1.0149240493774414,
        0.9370923638343811,
        0.028537260368466377,
        0.06899458169937134,
        -0.9532002210617065,
        -0.2074975222349167,
        -0.21989701688289642,
        -0.2312149852514267,
        0.9689168334007263,
        0.08797929435968399
      ],
      "bottle_position_world": [
        -0.20122292637825012,
        0.1001967042684555,
        0.83771151304245
      ],
      "bottle_quaternion_world": [
        0.7284981608390808,
        -2.6617342882673256e-05,
        9.94049696600996e-05,
        0.6850477457046509
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.45,
      "clearance_m": -0.00025922060012817383,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598870396614075,
      "action": [
        1.0,
        0.22931037843227386,
        -0.43440714478492737,
        0.15427914261817932,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2756431102752686,
        -0.2915939688682556,
        -0.00011475992505438626,
        -1.4629967212677002,
        -1.4116017818450928,
        1.238277554512024,
        1.0149394273757935,
        0.9386391043663025,
        0.02840622328221798,
        0.06926799565553665,
        -0.9546433687210083,
        -0.1964726448059082,
        -0.22373010218143463,
        -0.2204660326242447,
        0.9714517593383789,
        0.08761798590421677
      ],
      "bottle_position_world": [
        -0.20121833682060242,
        0.10018319636583328,
        0.8377137184143066
      ],
      "bottle_quaternion_world": [
        0.7284992933273315,
        0.00010598418884910643,
        3.800298509304412e-05,
        0.6850465536117554
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.5,
      "clearance_m": -0.0002595186233520508,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600178718566895,
      "action": [
        1.0,
        0.23161901533603668,
        -0.44185271859169006,
        0.16578438878059387,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2752673625946045,
        -0.2910117506980896,
        -0.00010399225720902905,
        -1.4690250158309937,
        -1.4126044511795044,
        1.2496901750564575,
        1.015088677406311,
        0.9401073455810547,
        0.02827993780374527,
        0.06954934448003769,
        -0.9558790922164917,
        -0.18593765795230865,
        -0.22742629051208496,
        -0.2102082222700119,
        0.9737418293952942,
        0.08740562200546265
      ],
      "bottle_position_world": [
        -0.2012263387441635,
        0.10019443184137344,
        0.8377130031585693
      ],
      "bottle_quaternion_world": [
        0.7285008430480957,
        -3.445683978497982e-05,
        5.7642693718662485e-05,
        0.6850450038909912
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.550000000000001,
      "clearance_m": -0.0002601742744445801,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260047674179077,
      "action": [
        1.0,
        0.235776886343956,
        -0.4381113350391388,
        0.1743699610233307,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2749171257019043,
        -0.29039114713668823,
        -0.00011040977551601827,
        -1.4752135276794434,
        -1.4136439561843872,
        1.2612131834030151,
        1.0149705410003662,
        0.9416131377220154,
        0.028115447610616684,
        0.06983344256877899,
        -0.9569780826568604,
        -0.17525166273117065,
        -0.23125766217708588,
        -0.19980549812316895,
        0.9759447574615479,
        0.08723428845405579
      ],
      "bottle_position_world": [
        -0.20122754573822021,
        0.10019724816083908,
        0.837712287902832
      ],
      "bottle_quaternion_world": [
        0.7285009622573853,
        -6.433535600081086e-05,
        6.85268096276559e-05,
        0.6850448250770569
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.6000000000000005,
      "clearance_m": -0.00025975704193115234,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260013997554779,
      "action": [
        1.0,
        0.23962022364139557,
        -0.4452340304851532,
        0.18550744652748108,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.274528741836548,
        -0.28974395990371704,
        -0.0001184653738164343,
        -1.4814726114273071,
        -1.4146219491958618,
        1.2729769945144653,
        1.014944076538086,
        0.9431326985359192,
        0.028003204613924026,
        0.0701150968670845,
        -0.9579636454582214,
        -0.16434183716773987,
        -0.23515480756759644,
        -0.18920853734016418,
        0.9780521392822266,
        0.08726158738136292
      ],
      "bottle_position_world": [
        -0.20123788714408875,
        0.10018400847911835,
        0.8377130031585693
      ],
      "bottle_quaternion_world": [
        0.7285017967224121,
        -3.8649726775474846e-05,
        -0.0001021248463075608,
        0.6850439310073853
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.65,
      "clearance_m": -0.00025963783264160156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599281668663025,
      "action": [
        1.0,
        0.24194981157779694,
        -0.4481780230998993,
        0.20012953877449036,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2741572856903076,
        -0.2890847325325012,
        -0.00011399931827327237,
        -1.4878246784210205,
        -1.4155396223068237,
        1.2848628759384155,
        1.0149319171905518,
        0.9446715116500854,
        0.02789035439491272,
        0.07040351629257202,
        -0.9588103890419006,
        -0.15327298641204834,
        -0.23914529383182526,
        -0.1784812957048416,
        0.9800491333007812,
        0.08745618164539337
      ],
      "bottle_position_world": [
        -0.20122599601745605,
        0.10018204897642136,
        0.8377129435539246
      ],
      "bottle_quaternion_world": [
        0.728502631187439,
        5.974030136712827e-05,
        -2.7386862711864524e-05,
        0.6850430369377136
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.7,
      "clearance_m": -0.0002562403678894043,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259878098964691,
      "action": [
        1.0,
        0.2438519150018692,
        -0.4542377293109894,
        0.21158602833747864,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2738187313079834,
        -0.2884780764579773,
        -0.00010158387158298865,
        -1.493874192237854,
        -1.4163707494735718,
        1.2961771488189697,
        1.015046238899231,
        0.9461336135864258,
        0.027782244607806206,
        0.07070326060056686,
        -0.9594754576683044,
        -0.14270074665546417,
        -0.24298888444900513,
        -0.16825439035892487,
        0.981827974319458,
        0.08777539432048798
      ],
      "bottle_position_world": [
        -0.20121434330940247,
        0.10018695145845413,
        0.837716817855835
      ],
      "bottle_quaternion_world": [
        0.7285028696060181,
        0.0001054710301104933,
        9.441551810596138e-05,
        0.6850427985191345
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.75,
      "clearance_m": -0.00025475025177001953,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598840594291687,
      "action": [
        1.0,
        0.24794740974903107,
        -0.451021283864975,
        0.22011259198188782,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2735049724578857,
        -0.287826806306839,
        -0.00010887411190196872,
        -1.5000829696655273,
        -1.4172337055206299,
        1.3076034784317017,
        1.0148991346359253,
        0.9476327896118164,
        0.027637839317321777,
        0.07100236415863037,
        -0.9599969387054443,
        -0.13198153674602509,
        -0.24695608019828796,
        -0.15789133310317993,
        0.983514130115509,
        0.08815142512321472
      ],
      "bottle_position_world": [
        -0.20122359693050385,
        0.1001802384853363,
        0.837717592716217
      ],
      "bottle_quaternion_world": [
        0.7285028696060181,
        9.084335761144757e-05,
        -2.1989915694575757e-05,
        0.6850427985191345
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.800000000000001,
      "clearance_m": -0.00025790929794311523,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259875416755676,
      "action": [
        1.0,
        0.2520867586135864,
        -0.4576053321361542,
        0.23158791661262512,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2731542587280273,
        -0.28714874386787415,
        -0.00011602738231886178,
        -1.5063669681549072,
        -1.4180318117141724,
        1.3192733526229858,
        1.0148552656173706,
        0.9491463899612427,
        0.027545517310500145,
        0.07129838317632675,
        -0.9603956341743469,
        -0.12103989720344543,
        -0.25097787380218506,
        -0.14734256267547607,
        0.9850969910621643,
        0.08873758465051651
      ],
      "bottle_position_world": [
        -0.20122091472148895,
        0.10017985850572586,
        0.8377147316932678
      ],
      "bottle_quaternion_world": [
        0.7285028100013733,
        0.00011191687372047454,
        -4.912087206321303e-06,
        0.6850428581237793
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.8500000000000005,
      "clearance_m": -0.0002579689025878906,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425996333360672,
      "action": [
        0.9869842529296875,
        0.2542381286621094,
        -0.4602721631526947,
        0.24651840329170227,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.272817611694336,
        -0.28645092248916626,
        -0.00011223829642403871,
        -1.5127296447753906,
        -1.4187767505645752,
        1.331070899963379,
        1.014855980873108,
        0.9506745338439941,
        0.027453837916254997,
        0.07159233838319778,
        -0.9606553912162781,
        -0.1099424883723259,
        -0.25505733489990234,
        -0.1366698443889618,
        0.9865655899047852,
        0.08949826657772064
      ],
      "bottle_position_world": [
        -0.20122334361076355,
        0.10019006580114365,
        0.8377144932746887
      ],
      "bottle_quaternion_world": [
        0.7285029292106628,
        1.9010067262570374e-05,
        4.905096648144536e-05,
        0.685042679309845
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.9,
      "clearance_m": -0.00026547908782958984,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600733041763306,
      "action": [
        0.9661394357681274,
        0.25590234994888306,
        -0.46489641070365906,
        0.2576630413532257,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2725064754486084,
        -0.2858061194419861,
        -9.777798550203443e-05,
        -1.5187677145004272,
        -1.41946542263031,
        1.342310905456543,
        1.0150172710418701,
        0.9521198272705078,
        0.02736559882760048,
        0.07188990712165833,
        -0.9607703685760498,
        -0.0993448793888092,
        -0.25894248485565186,
        -0.12649427354335785,
        0.987844705581665,
        0.09034671634435654
      ],
      "bottle_position_world": [
        -0.20123310387134552,
        0.1001967266201973,
        0.8377134799957275
      ],
      "bottle_quaternion_world": [
        0.7285033464431763,
        -9.992029663408175e-05,
        2.3015170881990343e-05,
        0.6850422620773315
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 7.95,
      "clearance_m": -0.00026047229766845703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259939193725586,
      "action": [
        0.947634220123291,
        0.2597823739051819,
        -0.46008870005607605,
        0.26570644974708557,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2722103595733643,
        -0.2851143479347229,
        -0.00010538534843362868,
        -1.5249381065368652,
        -1.4202044010162354,
        1.3536732196807861,
        1.014936089515686,
        0.9535945057868958,
        0.02724621444940567,
        0.07218148559331894,
        -0.960742712020874,
        -0.08860444277524948,
        -0.26291272044181824,
        -0.1161845475435257,
        0.9890270829200745,
        0.09125173091888428
      ],
      "bottle_position_world": [
        -0.20121896266937256,
        0.10018918663263321,
        0.8377120494842529
      ],
      "bottle_quaternion_world": [
        0.7285043597221375,
        5.6768414651742205e-05,
        7.575377821922302e-05,
        0.6850411891937256
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.0,
      "clearance_m": -0.00026237964630126953,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599785327911377,
      "action": [
        0.9231363534927368,
        0.2633515000343323,
        -0.4647027552127838,
        0.27649226784706116,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2718708515167236,
        -0.2843937575817108,
        -0.00011511451884871349,
        -1.5311453342437744,
        -1.4209102392196655,
        1.3652887344360352,
        1.0149948596954346,
        0.9550730586051941,
        0.02717767097055912,
        0.07246159762144089,
        -0.9605971574783325,
        -0.07764308899641037,
        -0.2668805718421936,
        -0.10568640381097794,
        0.9901018738746643,
        0.09235414862632751
      ],
      "bottle_position_world": [
        -0.2012377828359604,
        0.10017777234315872,
        0.8377103805541992
      ],
      "bottle_quaternion_world": [
        0.7285053730010986,
        9.342958037450444e-06,
        -0.00014482674305327237,
        0.6850401163101196
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.05,
      "clearance_m": -0.00026047229766845703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600077390670776,
      "action": [
        0.9004755020141602,
        0.2651175856590271,
        -0.4647826850414276,
        0.2905682623386383,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2715392112731934,
        -0.28366556763648987,
        -0.00010660776024451479,
        -1.5374163389205933,
        -1.4215822219848633,
        1.3770402669906616,
        1.0150610208511353,
        0.9565609097480774,
        0.027110865339636803,
        0.07274385541677475,
        -0.9603118896484375,
        -0.06652911752462387,
        -0.27087903022766113,
        -0.09506704658269882,
        0.9910590648651123,
        0.09362031519412994
      ],
      "bottle_position_world": [
        -0.20124094188213348,
        0.10018020123243332,
        0.8377124071121216
      ],
      "bottle_quaternion_world": [
        0.7285065650939941,
        -3.117965752608143e-05,
        -0.00015072082169353962,
        0.6850388646125793
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.1,
      "clearance_m": -0.0002598762512207031,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600053548812866,
      "action": [
        0.8790460824966431,
        0.26668909192085266,
        -0.4686640799045563,
        0.30115047097206116,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2712314128875732,
        -0.282995343208313,
        -9.602787031326443e-05,
        -1.5433553457260132,
        -1.4222095012664795,
        1.3882396221160889,
        1.0152440071105957,
        0.9579657316207886,
        0.02704578824341297,
        0.07303554564714432,
        -0.9599097967147827,
        -0.055920038372278214,
        -0.2746751308441162,
        -0.08494792878627777,
        0.9918518662452698,
        0.0949411690235138
      ],
      "bottle_position_world": [
        -0.20122218132019043,
        0.10019617527723312,
        0.837712824344635
      ],
      "bottle_quaternion_world": [
        0.7285073399543762,
        -1.8242686564917676e-05,
        0.00010144957195734605,
        0.6850380301475525
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.15,
      "clearance_m": -0.0002576112747192383,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259914457798004,
      "action": [
        0.8607836961746216,
        0.270168662071228,
        -0.4646896421909332,
        0.3085058033466339,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2709360122680664,
        -0.2822827100753784,
        -0.00010108462447533384,
        -1.5494173765182495,
        -1.422893762588501,
        1.3995640277862549,
        1.0151727199554443,
        0.9593961238861084,
        0.026950223371386528,
        0.07332000881433487,
        -0.9593626856803894,
        -0.0451725497841835,
        -0.2785375416278839,
        -0.07469993084669113,
        0.9925437569618225,
        0.09631947427988052
      ],
      "bottle_position_world": [
        -0.20122207701206207,
        0.10018458217382431,
        0.8377151489257812
      ],
      "bottle_quaternion_world": [
        0.7285075187683105,
        6.92367902956903e-05,
        2.0913839762215503e-05,
        0.6850377917289734
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.200000000000001,
      "clearance_m": -0.0002557039260864258,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600178718566895,
      "action": [
        0.8365048170089722,
        0.2736910879611969,
        -0.46922531723976135,
        0.31884315609931946,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.270598888397217,
        -0.2815503776073456,
        -0.0001075845502782613,
        -1.5554765462875366,
        -1.4235540628433228,
        1.411137580871582,
        1.015217900276184,
        0.9608207941055298,
        0.026902910321950912,
        0.07359418272972107,
        -0.9587000608444214,
        -0.034209955483675,
        -0.2823549807071686,
        -0.06426967680454254,
        0.9931197166442871,
        0.09789382666349411
      ],
      "bottle_position_world": [
        -0.2012304961681366,
        0.1001928523182869,
        0.8377167582511902
      ],
      "bottle_quaternion_world": [
        0.7285075187683105,
        -5.237689765635878e-05,
        1.642563074710779e-05,
        0.6850377917289734
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.25,
      "clearance_m": -0.00022476911544799805,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598170042037964,
      "action": [
        0.8144875764846802,
        0.27516770362854004,
        -0.46946045756340027,
        0.332612544298172,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.270282745361328,
        -0.280848890542984,
        -0.00010059258784167469,
        -1.5614184141159058,
        -1.4241799116134644,
        1.422812581062317,
        1.0151268243789673,
        0.9622124433517456,
        0.026850547641515732,
        0.07387937605381012,
        -0.9579315185546875,
        -0.02311716042459011,
        -0.28606486320495605,
        -0.05373488739132881,
        0.993570864200592,
        0.09964815527200699
      ],
      "bottle_position_world": [
        -0.20122545957565308,
        0.10018464922904968,
        0.8377477526664734
      ],
      "bottle_quaternion_world": [
        0.7285075187683105,
        4.4821761548519135e-05,
        -3.862349331029691e-06,
        0.6850377917289734
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.3,
      "clearance_m": -0.0002353191375732422,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598962783813477,
      "action": [
        0.791664719581604,
        0.27754491567611694,
        -0.47458985447883606,
        0.34288230538368225,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2700016498565674,
        -0.28022581338882446,
        -9.306937863584608e-05,
        -1.5668878555297852,
        -1.4247692823410034,
        1.4339120388031006,
        1.015109658241272,
        0.963489830493927,
        0.026790201663970947,
        0.07416819781064987,
        -0.9571101665496826,
        -0.012544002383947372,
        -0.2894534170627594,
        -0.043702688068151474,
        0.99388188123703,
        0.10143625736236572
      ],
      "bottle_position_world": [
        -0.2012271136045456,
        0.10018902271986008,
        0.8377372622489929
      ],
      "bottle_quaternion_world": [
        0.7285075187683105,
        2.2634331742210634e-08,
        1.431865803169785e-05,
        0.6850377917289734
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.35,
      "clearance_m": -0.00022983551025390625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598679661750793,
      "action": [
        0.774705171585083,
        0.28127729892730713,
        -0.47276726365089417,
        0.3475194275379181,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2697370052337646,
        -0.27958571910858154,
        -9.230252908309922e-05,
        -1.5723427534103394,
        -1.4254324436187744,
        1.445111632347107,
        1.0148100852966309,
        0.964759111404419,
        0.02669527195394039,
        0.07444481551647186,
        -0.9561759233474731,
        -0.0018537924624979496,
        -0.29278773069381714,
        -0.0335506871342659,
        0.9940870404243469,
        0.10327477753162384
      ],
      "bottle_position_world": [
        -0.20123063027858734,
        0.10018474608659744,
        0.8377425670623779
      ],
      "bottle_quaternion_world": [
        0.7285075187683105,
        7.93115032138303e-06,
        -4.237508255755529e-05,
        0.6850377917289734
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.4,
      "clearance_m": -0.00024574995040893555,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599594593048096,
      "action": [
        0.7523728609085083,
        0.2850361466407776,
        -0.4779680073261261,
        0.356000691652298,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2694761753082275,
        -0.27894455194473267,
        -9.184060763800517e-05,
        -1.5776896476745605,
        -1.4261174201965332,
        1.456446886062622,
        1.0145947933197021,
        0.9659984707832336,
        0.026594914495944977,
        0.07470706850290298,
        -0.9551489353179932,
        0.008980181068181992,
        -0.2959902286529541,
        -0.023264285176992416,
        0.994175374507904,
        0.10523580014705658
      ],
      "bottle_position_world": [
        -0.20122477412223816,
        0.10019472241401672,
        0.8377270102500916
      ],
      "bottle_quaternion_world": [
        0.7285075187683105,
        -2.5840863600024022e-05,
        7.186184666352347e-05,
        0.6850377917289734
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.450000000000001,
      "clearance_m": -0.0002579689025878906,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259996712207794,
      "action": [
        0.7328387498855591,
        0.2874011993408203,
        -0.4787827432155609,
        0.36721745133399963,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.269287347793579,
        -0.278461754322052,
        -9.697209316072986e-05,
        -1.582866907119751,
        -1.4268484115600586,
        1.4678875207901,
        1.0155071020126343,
        0.9671977758407593,
        0.026418233290314674,
        0.07509851455688477,
        -0.9539945125579834,
        0.019987130537629128,
        -0.29915764927864075,
        -0.012810204178094864,
        0.9941474199295044,
        0.10727137327194214
      ],
      "bottle_position_world": [
        -0.20123495161533356,
        0.10018497705459595,
        0.8377147316932678
      ],
      "bottle_quaternion_world": [
        0.7285075187683105,
        -2.4103763280436397e-05,
        -7.301067671505734e-05,
        0.6850377917289734
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.5,
      "clearance_m": -0.0002492070198059082,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599377036094666,
      "action": [
        0.7244796752929688,
        0.2847544252872467,
        -0.46698006987571716,
        0.38492217659950256,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2690091133117676,
        -0.27790194749832153,
        -7.707460463279858e-05,
        -1.5877947807312012,
        -1.4272698163986206,
        1.4788626432418823,
        1.0138945579528809,
        0.9683351516723633,
        0.026422705501317978,
        0.07537739723920822,
        -0.952803909778595,
        0.030461372807621956,
        -0.30205485224723816,
        -0.0029640947468578815,
        0.993972659111023,
        0.10958927869796753
      ],
      "bottle_position_world": [
        -0.20123350620269775,
        0.10018207877874374,
        0.8377229571342468
      ],
      "bottle_quaternion_world": [
        0.7285075187683105,
        7.954629836603999e-06,
        -8.31462602945976e-05,
        0.6850377917289734
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.55,
      "clearance_m": -0.0002594590187072754,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259988069534302,
      "action": [
        0.6742900609970093,
        0.30624014139175415,
        -0.5328975915908813,
        0.3782937824726105,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.268789052963257,
        -0.277140349149704,
        -8.873463229974732e-05,
        -1.592437744140625,
        -1.4280978441238403,
        1.4899253845214844,
        1.014297366142273,
        0.9693955779075623,
        0.026267779991030693,
        0.0754198357462883,
        -0.9516394734382629,
        0.04108934476971626,
        -0.3044578731060028,
        0.007176320068538189,
        0.9937185049057007,
        0.11168033629655838
      ],
      "bottle_position_world": [
        -0.20122261345386505,
        0.10019348561763763,
        0.8377131223678589
      ],
      "bottle_quaternion_world": [
        0.7285075187683105,
        -6.231262545952632e-07,
        7.895701855886728e-05,
        0.6850379109382629
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.6,
      "clearance_m": -0.0002605915069580078,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259922206401825,
      "action": [
        0.6872934103012085,
        0.2930840253829956,
        -0.462290495634079,
        0.3898855745792389,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.268566370010376,
        -0.27662211656570435,
        -8.101260755211115e-05,
        -1.5971776247024536,
        -1.4287327527999878,
        1.5011354684829712,
        1.0138919353485107,
        0.9704811573028564,
        0.02616673707962036,
        0.07571308314800262,
        -0.9502488374710083,
        0.051846664398908615,
        -0.3071476221084595,
        0.017339160665869713,
        0.9933261871337891,
        0.11403050273656845
      ],
      "bottle_position_world": [
        -0.20122146606445312,
        0.10018466413021088,
        0.8377121090888977
      ],
      "bottle_quaternion_world": [
        0.7285076975822449,
        7.332195673370734e-05,
        2.5005143470480107e-05,
        0.6850376129150391
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.65,
      "clearance_m": -0.00025713443756103516,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598867416381836,
      "action": [
        0.6602728366851807,
        0.30058494210243225,
        -0.4925878345966339,
        0.40259233117103577,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2683651447296143,
        -0.27601540088653564,
        -7.829021342331544e-05,
        -1.6017773151397705,
        -1.4293878078460693,
        1.5124561786651611,
        1.0137776136398315,
        0.9715306162834167,
        0.02604423463344574,
        0.07590334862470627,
        -0.9487981200218201,
        0.06273797899484634,
        -0.30959051847457886,
        0.027637092396616936,
        0.9928073287010193,
        0.11649172008037567
      ],
      "bottle_position_world": [
        -0.20122528076171875,
        0.10017815232276917,
        0.8377156257629395
      ],
      "bottle_quaternion_world": [
        0.7285077571868896,
        9.492866229265928e-05,
        -4.9373749789083377e-05,
        0.6850376129150391
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.700000000000001,
      "clearance_m": -0.00025969743728637695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259953498840332,
      "action": [
        0.645480751991272,
        0.3016963005065918,
        -0.48312315344810486,
        0.4141252338886261,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2681634426116943,
        -0.2755056321620941,
        -8.513238572049886e-05,
        -1.6059863567352295,
        -1.4299269914627075,
        1.523311972618103,
        1.0137051343917847,
        0.9724912643432617,
        0.02596648409962654,
        0.07613170146942139,
        -0.9473253488540649,
        0.07317279279232025,
        -0.31180280447006226,
        0.037466347217559814,
        0.9921859502792358,
        0.11901181936264038
      ],
      "bottle_position_world": [
        -0.2012307345867157,
        0.10018160194158554,
        0.8377130031585693
      ],
      "bottle_quaternion_world": [
        0.7285082340240479,
        3.107706652372144e-05,
        -6.603683868888766e-05,
        0.6850370764732361
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.75,
      "clearance_m": -0.00025838613510131836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259921908378601,
      "action": [
        0.6328282356262207,
        0.3050978481769562,
        -0.48644372820854187,
        0.4169156849384308,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.267974376678467,
        -0.2749707102775574,
        -7.925108366180211e-05,
        -1.6102094650268555,
        -1.4305387735366821,
        1.5342670679092407,
        1.0133954286575317,
        0.9734495878219604,
        0.025856686756014824,
        0.07633217424154282,
        -0.9457404017448425,
        0.08371143788099289,
        -0.3139548599720001,
        0.04740434139966965,
        0.9914517998695374,
        0.12155786901712418
      ],
      "bottle_position_world": [
        -0.201229527592659,
        0.10017882287502289,
        0.8377143144607544
      ],
      "bottle_quaternion_world": [
        0.7285082936286926,
        6.030941949575208e-05,
        -7.653794455109164e-05,
        0.6850370168685913
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.8,
      "clearance_m": -0.0002593994140625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600181698799133,
      "action": [
        0.6153944730758667,
        0.30843406915664673,
        -0.4888077676296234,
        0.42394009232521057,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.267791271209717,
        -0.2744402587413788,
        -7.326070772251114e-05,
        -1.6143429279327393,
        -1.4311673641204834,
        1.5453652143478394,
        1.013168454170227,
        0.9743841886520386,
        0.025739826261997223,
        0.07652316987514496,
        -0.9440572261810303,
        0.09439241886138916,
        -0.31598514318466187,
        0.05747421830892563,
        0.9905915856361389,
        0.12420018017292023
      ],
      "bottle_position_world": [
        -0.20122361183166504,
        0.10019692778587341,
        0.8377131819725037
      ],
      "bottle_quaternion_world": [
        0.7285093069076538,
        -3.2993779313983396e-05,
        9.56475778366439e-05,
        0.6850359439849854
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.85,
      "clearance_m": -0.0002601146697998047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599979043006897,
      "action": [
        0.6001297235488892,
        0.31061065196990967,
        -0.4893139898777008,
        0.4337637722492218,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2676198482513428,
        -0.2739124298095703,
        -7.129574078135192e-05,
        -1.6183903217315674,
        -1.431775450706482,
        1.5565868616104126,
        1.012947678565979,
        0.9752981066703796,
        0.025620199739933014,
        0.07670809328556061,
        -0.9422699809074402,
        0.10520002245903015,
        -0.31790006160736084,
        0.06764867156744003,
        0.989597737789154,
        0.1269657164812088
      ],
      "bottle_position_world": [
        -0.2012377381324768,
        0.10018157958984375,
        0.8377124667167664
      ],
      "bottle_quaternion_world": [
        0.7285104990005493,
        -1.847568819357548e-05,
        -0.00011869238369399682,
        0.6850346922874451
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.9,
      "clearance_m": -0.0002587437629699707,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599377036094666,
      "action": [
        0.583560585975647,
        0.31355684995651245,
        -0.4902941882610321,
        0.44514599442481995,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2674484252929688,
        -0.27343621850013733,
        -8.179960423149168e-05,
        -1.6220741271972656,
        -1.432288408279419,
        1.5673491954803467,
        1.0128685235977173,
        0.9761301875114441,
        0.025538094341754913,
        0.07689115405082703,
        -0.940492570400238,
        0.11555410921573639,
        -0.31956446170806885,
        0.07736990600824356,
        0.988524317741394,
        0.12974607944488525
      ],
      "bottle_position_world": [
        -0.20121881365776062,
        0.10018996894359589,
        0.8377137780189514
      ],
      "bottle_quaternion_world": [
        0.7285118103027344,
        5.220668754191138e-05,
        8.119404810713604e-05,
        0.6850332617759705
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 8.950000000000001,
      "clearance_m": -0.00026035308837890625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600056529045105,
      "action": [
        0.5740360021591187,
        0.3159847855567932,
        -0.4889882504940033,
        0.4464778006076813,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.267286777496338,
        -0.27295276522636414,
        -7.326587365241721e-05,
        -1.6257822513580322,
        -1.4328678846359253,
        1.57821524143219,
        1.0125463008880615,
        0.976962149143219,
        0.02542794495820999,
        0.07706089317798615,
        -0.9385952949523926,
        0.12600797414779663,
        -0.32118716835975647,
        0.08719350397586823,
        0.987334132194519,
        0.1325474977493286
      ],
      "bottle_position_world": [
        -0.20123809576034546,
        0.10018230229616165,
        0.837712287902832
      ],
      "bottle_quaternion_world": [
        0.7285131812095642,
        -2.6906662242254242e-05,
        -0.00011689339589793235,
        0.6850318312644958
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.0,
      "clearance_m": -0.00025969743728637695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259915351867676,
      "action": [
        0.5579750537872314,
        0.31952759623527527,
        -0.49233779311180115,
        0.4531234800815582,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2671306133270264,
        -0.272465318441391,
        -6.849631608929485e-05,
        -1.6294059753417969,
        -1.4334640502929688,
        1.5892266035079956,
        1.012312412261963,
        0.9777730107307434,
        0.025310728698968887,
        0.07721573114395142,
        -0.9365981221199036,
        0.13660074770450592,
        -0.3226833641529083,
        0.09714730083942413,
        0.9860125184059143,
        0.13543318212032318
      ],
      "bottle_position_world": [
        -0.20121952891349792,
        0.10018599778413773,
        0.8377133011817932
      ],
      "bottle_quaternion_world": [
        0.7285144329071045,
        7.646668382221833e-05,
        4.739916403195821e-05,
        0.6850305199623108
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.05,
      "clearance_m": -0.00025981664657592773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425999253988266,
      "action": [
        0.5443500280380249,
        0.3213704228401184,
        -0.49157342314720154,
        0.46204105019569397,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2669856548309326,
        -0.27198442816734314,
        -6.473320536315441e-05,
        -1.6329501867294312,
        -1.434038758277893,
        1.6003639698028564,
        1.0120830535888672,
        0.9785649180412292,
        0.025191225111484528,
        0.07736609876155853,
        -0.9344944357872009,
        0.1473163664340973,
        -0.3240656554698944,
        0.1072029396891594,
        0.9845533967018127,
        0.13842962682247162
      ],
      "bottle_position_world": [
        -0.20122437179088593,
        0.10019243508577347,
        0.8377127051353455
      ],
      "bottle_quaternion_world": [
        0.7285149693489075,
        -5.434312242869055e-06,
        5.697795859305188e-05,
        0.685029923915863
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.1,
      "clearance_m": -0.0002551078796386719,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599987983703613,
      "action": [
        0.5300395488739014,
        0.32392191886901855,
        -0.4925263822078705,
        0.47275033593177795,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2668397426605225,
        -0.27154645323753357,
        -7.533410825999454e-05,
        -1.636174201965332,
        -1.4345206022262573,
        1.6110490560531616,
        1.0120009183883667,
        0.9792859554290771,
        0.025107983499765396,
        0.07751379162073135,
        -0.9324133992195129,
        0.15758006274700165,
        -0.3252297043800354,
        0.11680915951728821,
        0.9830350279808044,
        0.14141492545604706
      ],
      "bottle_position_world": [
        -0.20123422145843506,
        0.10018738359212875,
        0.837717592716217
      ],
      "bottle_quaternion_world": [
        0.7285149693489075,
        -3.771841511479579e-05,
        -5.28209529875312e-05,
        0.685029923915863
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.15,
      "clearance_m": -0.0002551078796386719,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600226402282715,
      "action": [
        0.5218135118484497,
        0.32651883363723755,
        -0.4906071722507477,
        0.4733835756778717,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.266700506210327,
        -0.2711036503314972,
        -6.816649693064392e-05,
        -1.6394212245941162,
        -1.4350665807724,
        1.6218410730361938,
        1.011684536933899,
        0.980007529258728,
        0.02500016987323761,
        0.07765047997236252,
        -0.930210292339325,
        0.16793939471244812,
        -0.3263520896434784,
        0.12651409208774567,
        0.9813963174819946,
        0.14441587030887604
      ],
      "bottle_position_world": [
        -0.20123834908008575,
        0.10018717497587204,
        0.837717592716217
      ],
      "bottle_quaternion_world": [
        0.7285149693489075,
        -6.457404379034415e-05,
        -8.460209210170433e-05,
        0.685029923915863
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.200000000000001,
      "clearance_m": -0.00025767087936401367,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600217461586,
      "action": [
        0.5076334476470947,
        0.32961100339889526,
        -0.4935706555843353,
        0.47926703095436096,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2665674686431885,
        -0.2706568241119385,
        -6.236563058337197e-05,
        -1.6425950527191162,
        -1.435628056526184,
        1.6327804327011108,
        1.011448621749878,
        0.9807106852531433,
        0.024884715676307678,
        0.0777723491191864,
        -0.927902102470398,
        0.17843371629714966,
        -0.32735228538513184,
        0.13634639978408813,
        0.9796207547187805,
        0.14749018847942352
      ],
      "bottle_position_world": [
        -0.20123590528964996,
        0.1001877635717392,
        0.8377149701118469
      ],
      "bottle_quaternion_world": [
        0.7285149693489075,
        -5.180363223189488e-05,
        -6.24631647951901e-05,
        0.685029923915863
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.25,
      "clearance_m": -0.0002529025077819824,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259987771511078,
      "action": [
        0.49552950263023376,
        0.33142176270484924,
        -0.4926035702228546,
        0.4875932037830353,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2664434909820557,
        -0.27021491527557373,
        -5.94808989262674e-05,
        -1.6456962823867798,
        -1.4361674785614014,
        1.6438491344451904,
        1.0112190246582031,
        0.981397271156311,
        0.0247685294598341,
        0.07788953185081482,
        -0.9254839420318604,
        0.1890464574098587,
        -0.3282395601272583,
        0.14627711474895477,
        0.9777031540870667,
        0.15066492557525635
      ],
      "bottle_position_world": [
        -0.20123714208602905,
        0.10018476098775864,
        0.837720513343811
      ],
      "bottle_quaternion_world": [
        0.7285149693489075,
        -3.8209836930036545e-05,
        -9.237717313226312e-05,
        0.685029923915863
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.3,
      "clearance_m": -0.00023549795150756836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259878993034363,
      "action": [
        0.482844740152359,
        0.3336251378059387,
        -0.49299582839012146,
        0.49728336930274963,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.266348123550415,
        -0.269817054271698,
        -6.790695624658838e-05,
        -1.6485357284545898,
        -1.436647653579712,
        1.6543775796890259,
        1.0110660791397095,
        0.9820268154144287,
        0.02464844472706318,
        0.07801143825054169,
        -0.9231006503105164,
        0.19914518296718597,
        -0.3289783298969269,
        0.1557132601737976,
        0.9757640361785889,
        0.15374784171581268
      ],
      "bottle_position_world": [
        -0.20123009383678436,
        0.10018502175807953,
        0.8377392888069153
      ],
      "bottle_quaternion_world": [
        0.7285149693489075,
        9.291974492953159e-06,
        -3.821501013590023e-05,
        0.685029923915863
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.35,
      "clearance_m": -0.0002117156982421875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42597970366477966,
      "action": [
        0.47524121403694153,
        0.3370862901210785,
        -0.49162790179252625,
        0.4957883656024933,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.266223907470703,
        -0.2694072425365448,
        -6.182329525472596e-05,
        -1.6513745784759521,
        -1.437180519104004,
        1.665116786956787,
        1.0108083486557007,
        0.9826513528823853,
        0.024542585015296936,
        0.07811343669891357,
        -0.9205939173698425,
        0.2094033807516098,
        -0.32963231205940247,
        0.16530588269233704,
        0.9736849665641785,
        0.15688198804855347
      ],
      "bottle_position_world": [
        -0.20122872292995453,
        0.10018625855445862,
        0.8377618789672852
      ],
      "bottle_quaternion_world": [
        0.7285149693489075,
        9.88824922387721e-06,
        -1.9301216525491327e-05,
        0.685029923915863
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.4,
      "clearance_m": -0.00024199485778808594,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598897218704224,
      "action": [
        0.4632754623889923,
        0.3389846682548523,
        -0.4918766915798187,
        0.5032904148101807,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2661075592041016,
        -0.2689985930919647,
        -5.6097182095982134e-05,
        -1.6541478633880615,
        -1.4377002716064453,
        1.675997018814087,
        1.0105665922164917,
        0.983260452747345,
        0.024434812366962433,
        0.0782061442732811,
        -0.9179770946502686,
        0.21978633105754852,
        -0.33017051219940186,
        0.1750074326992035,
        0.9714627265930176,
        0.1601034253835678
      ],
      "bottle_position_world": [
        -0.20122595131397247,
        0.10018524527549744,
        0.8377296924591064
      ],
      "bottle_quaternion_world": [
        0.7285149693489075,
        3.690986704896204e-05,
        -6.19888578512473e-06,
        0.685029923915863
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.450000000000001,
      "clearance_m": -0.00023949146270751953,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259902238845825,
      "action": [
        0.452407568693161,
        0.3407926559448242,
        -0.49240341782569885,
        0.5106736421585083,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2660012245178223,
        -0.2685890197753906,
        -5.445316855912097e-05,
        -1.656856656074524,
        -1.4382030963897705,
        1.6870085000991821,
        1.010350227355957,
        0.9838550686836243,
        0.024323731660842896,
        0.07829044759273529,
        -0.9152466654777527,
        0.2302839607000351,
        -0.3305950164794922,
        0.18480730056762695,
        0.9690942764282227,
        0.1634102165699005
      ],
      "bottle_position_world": [
        -0.20123174786567688,
        0.10018454492092133,
        0.837734580039978
      ],
      "bottle_quaternion_world": [
        0.7285149693489075,
        1.4026633152752765e-06,
        -5.433203841676004e-05,
        0.685029923915863
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.5,
      "clearance_m": -0.00023663043975830078,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599308490753174,
      "action": [
        0.4415898621082306,
        0.3425914943218231,
        -0.491862028837204,
        0.5193623304367065,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2659192085266113,
        -0.26822352409362793,
        -6.0432426835177466e-05,
        -1.6593390703201294,
        -1.4386495351791382,
        1.6974859237670898,
        1.0102007389068604,
        0.9844006896018982,
        0.02421109937131405,
        0.07838311791419983,
        -0.9125649333000183,
        0.24026790261268616,
        -0.33090347051620483,
        0.1941148042678833,
        0.9667273163795471,
        0.16660813987255096
      ],
      "bottle_position_world": [
        -0.20123080909252167,
        0.10019030421972275,
        0.8377364277839661
      ],
      "bottle_quaternion_world": [
        0.7285149693489075,
        -3.4932774724438787e-05,
        -6.731751454935875e-06,
        0.685029923915863
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.55,
      "clearance_m": -0.00024515390396118164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259951710700989,
      "action": [
        0.43502077460289,
        0.3460748493671417,
        -0.4907527267932892,
        0.5171616077423096,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2658092975616455,
        -0.26784443855285645,
        -5.496064113685861e-05,
        -1.6618213653564453,
        -1.4391502141952515,
        1.7081762552261353,
        1.009954810142517,
        0.9849421381950378,
        0.024110935628414154,
        0.07845524698495865,
        -0.9097532033920288,
        0.25040873885154724,
        -0.3311266005039215,
        0.20357827842235565,
        0.9642133712768555,
        0.16984879970550537
      ],
      "bottle_position_world": [
        -0.20122654736042023,
        0.10019189864397049,
        0.8377265930175781
      ],
      "bottle_quaternion_world": [
        0.7285149693489075,
        -1.7420243239030242e-05,
        3.658244895632379e-05,
        0.685029923915863
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.600000000000001,
      "clearance_m": -0.00025016069412231445,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259953200817108,
      "action": [
        0.4245831072330475,
        0.34768110513687134,
        -0.4911141097545624,
        0.523383378982544,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.265704393386841,
        -0.2674652338027954,
        -5.0143156840931624e-05,
        -1.6642464399337769,
        -1.439642310142517,
        1.7190107107162476,
        1.009727120399475,
        0.9854702949523926,
        0.024010227993130684,
        0.07851839065551758,
        -0.906826376914978,
        0.26066839694976807,
        -0.33123788237571716,
        0.21314772963523865,
        0.9615524411201477,
        0.17316368222236633
      ],
      "bottle_position_world": [
        -0.20122568309307098,
        0.10019100457429886,
        0.8377230167388916
      ],
      "bottle_quaternion_world": [
        0.7285149693489075,
        -4.233906565787038e-06,
        3.6530065699480474e-05,
        0.685029923915863
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.65,
      "clearance_m": -0.00025022029876708984,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259924292564392,
      "action": [
        0.414948970079422,
        0.3492099940776825,
        -0.4905126392841339,
        0.5304708480834961,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2656092643737793,
        -0.26708856225013733,
        -4.534338950179517e-05,
        -1.6666139364242554,
        -1.4401135444641113,
        1.7299785614013672,
        1.0095140933990479,
        0.9859853386878967,
        0.023907510563731194,
        0.07857479155063629,
        -0.9037816524505615,
        0.2710377275943756,
        -0.3312365412712097,
        0.22281064093112946,
        0.9587402939796448,
        0.17655856907367706
      ],
      "bottle_position_world": [
        -0.20122241973876953,
        0.1001894548535347,
        0.8377224802970886
      ],
      "bottle_quaternion_world": [
        0.7285149693489075,
        3.097564331255853e-05,
        5.0112110329791903e-05,
        0.685029923915863
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.700000000000001,
      "clearance_m": -0.0002581477165222168,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260007441043854,
      "action": [
        0.4053340256214142,
        0.35073381662368774,
        -0.48993799090385437,
        0.5383850336074829,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2655370235443115,
        -0.26674991846084595,
        -5.256582880974747e-05,
        -1.668779730796814,
        -1.44053053855896,
        1.7404158115386963,
        1.0093640089035034,
        0.9864579439163208,
        0.023802757263183594,
        0.07864012569189072,
        -0.9008002877235413,
        0.2808954119682312,
        -0.3311447501182556,
        0.23198534548282623,
        0.9559518694877625,
        0.17983078956604004
      ],
      "bottle_position_world": [
        -0.20123179256916046,
        0.1001889631152153,
        0.8377143740653992
      ],
      "bottle_quaternion_world": [
        0.7285149693489075,
        -3.15894212690182e-05,
        -2.355735887249466e-05,
        0.685029923915863
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.75,
      "clearance_m": -0.0002512931823730469,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259881377220154,
      "action": [
        0.39974310994148254,
        0.35416358709335327,
        -0.4887855350971222,
        0.5350265502929688,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2654335498809814,
        -0.2663981318473816,
        -4.82166615256574e-05,
        -1.670946717262268,
        -1.4410063028335571,
        1.7510679960250854,
        1.0091301202774048,
        0.9869266748428345,
        0.023712923750281334,
        0.07868511974811554,
        -0.8976836204528809,
        0.2909027636051178,
        -0.3309682309627533,
        0.24131180346012115,
        0.953011155128479,
        0.18313533067703247
      ],
      "bottle_position_world": [
        -0.20122142136096954,
        0.10018344223499298,
        0.8377209305763245
      ],
      "bottle_quaternion_world": [
        0.7285149693489075,
        8.286480442620814e-05,
        1.5284847904695198e-05,
        0.685029923915863
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.8,
      "clearance_m": -0.0002589225769042969,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600035667419434,
      "action": [
        0.3903255760669708,
        0.3554232120513916,
        -0.4880349934101105,
        0.5408241748809814,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.26533579826355,
        -0.2660483717918396,
        -4.327679562265985e-05,
        -1.6730601787567139,
        -1.441470980644226,
        1.7618659734725952,
        1.0089013576507568,
        0.9873830080032349,
        0.02362220175564289,
        0.07872287929058075,
        -0.8944467902183533,
        0.30102455615997314,
        -0.33068016171455383,
        0.25074073672294617,
        0.9499180316925049,
        0.1865077018737793
      ],
      "bottle_position_world": [
        -0.20122557878494263,
        0.10019347071647644,
        0.8377137780189514
      ],
      "bottle_quaternion_world": [
        0.7285146117210388,
        -2.1291818484314717e-05,
        5.4703290516044945e-05,
        0.6850302815437317
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.850000000000001,
      "clearance_m": -0.0002581477165222168,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259933531284332,
      "action": [
        0.38203856348991394,
        0.35675013065338135,
        -0.48772838711738586,
        0.5471774339675903,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2652461528778076,
        -0.26569706201553345,
        -4.114833791390993e-05,
        -1.675123691558838,
        -1.4419156312942505,
        1.7727994918823242,
        1.0086944103240967,
        0.9878285527229309,
        0.023530464619398117,
        0.07875261455774307,
        -0.8910876512527466,
        0.3112502098083496,
        -0.3302820026874542,
        0.2602591812610626,
        0.94666987657547,
        0.1899511069059372
      ],
      "bottle_position_world": [
        -0.2012266218662262,
        0.10018298774957657,
        0.8377143740653992
      ],
      "bottle_quaternion_world": [
        0.7285142540931702,
        4.965248081134632e-05,
        -2.6874164177570492e-05,
        0.6850306987762451
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.9,
      "clearance_m": -0.000254213809967041,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599883675575256,
      "action": [
        0.37354227900505066,
        0.35800302028656006,
        -0.4865758717060089,
        0.5542086362838745,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.265176296234131,
        -0.2653844654560089,
        -4.5082761062076315e-05,
        -1.6770117282867432,
        -1.4423096179962158,
        1.7832061052322388,
        1.008546233177185,
        0.9882370829582214,
        0.023438166826963425,
        0.07879264652729034,
        -0.8878071308135986,
        0.32096564769744873,
        -0.3298187255859375,
        0.26929280161857605,
        0.9434683322906494,
        0.19326043128967285
      ],
      "bottle_position_world": [
        -0.2012310028076172,
        0.10018910467624664,
        0.8377184271812439
      ],
      "bottle_quaternion_world": [
        0.7285141944885254,
        -2.6693327527027577e-05,
        -1.6310999853885733e-05,
        0.6850307583808899
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 9.950000000000001,
      "clearance_m": -0.00024586915969848633,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598986625671387,
      "action": [
        0.36886659264564514,
        0.36121031641960144,
        -0.48488083481788635,
        0.550451397895813,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.265076160430908,
        -0.2650577127933502,
        -4.131630339543335e-05,
        -1.678899884223938,
        -1.4427598714828491,
        1.7938288450241089,
        1.0083203315734863,
        0.988642156124115,
        0.02336028963327408,
        0.07881353795528412,
        -0.8843843936920166,
        0.3308262228965759,
        -0.32927006483078003,
        0.27847445011138916,
        0.9401072859764099,
        0.19659757614135742
      ],
      "bottle_position_world": [
        -0.20123110711574554,
        0.10018056631088257,
        0.8377267718315125
      ],
      "bottle_quaternion_world": [
        0.7285141944885254,
        3.676614142023027e-05,
        -7.68289974075742e-05,
        0.6850307583808899
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.0,
      "clearance_m": -0.0002543330192565918,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599254846572876,
      "action": [
        0.3604399263858795,
        0.3622937798500061,
        -0.48373302817344666,
        0.5558801889419556,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.264979839324951,
        -0.2647325098514557,
        -3.665273106889799e-05,
        -1.680739164352417,
        -1.443197250366211,
        1.8045984506607056,
        1.0080938339233398,
        0.9890362024307251,
        0.02328374795615673,
        0.07882708311080933,
        -0.8808374404907227,
        0.3407939076423645,
        -0.32861053943634033,
        0.2877523899078369,
        0.9365895986557007,
        0.1999964863061905
      ],
      "bottle_position_world": [
        -0.20121844112873077,
        0.10019107908010483,
        0.8377187252044678
      ],
      "bottle_quaternion_world": [
        0.7285141944885254,
        4.711803194368258e-05,
        9.21015307540074e-05,
        0.6850307583808899
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.05,
      "clearance_m": -0.00025457143783569336,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599135637283325,
      "action": [
        0.35329577326774597,
        0.363167405128479,
        -0.4831533133983612,
        0.5612212419509888,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.264969825744629,
        -0.26455873250961304,
        -4.0125854866346344e-05,
        -1.6825276613235474,
        -1.4436862468719482,
        1.8154875040054321,
        1.0085433721542358,
        0.9894219636917114,
        0.023108797147870064,
        0.07898266613483429,
        -0.8770855665206909,
        0.35090768337249756,
        -0.3280014395713806,
        0.2971690893173218,
        0.9329054355621338,
        0.20341667532920837
      ],
      "bottle_position_world": [
        -0.2012230008840561,
        0.10018480569124222,
        0.8377173542976379
      ],
      "bottle_quaternion_world": [
        0.7285141944885254,
        6.292406033026055e-05,
        1.4358154658111744e-05,
        0.6850308179855347
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.100000000000001,
      "clearance_m": -0.0002599954605102539,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259944260120392,
      "action": [
        0.35329803824424744,
        0.36125993728637695,
        -0.47463539242744446,
        0.5722407102584839,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2648847103118896,
        -0.26430729031562805,
        -4.0936625737231225e-05,
        -1.6842044591903687,
        -1.4439857006072998,
        1.8258682489395142,
        1.0080512762069702,
        0.9897834062576294,
        0.023064084351062775,
        0.07904636859893799,
        -0.8734934329986572,
        0.36044737696647644,
        -0.3272417485713959,
        0.3059955835342407,
        0.9292981624603271,
        0.2068135142326355
      ],
      "bottle_position_world": [
        -0.20122575759887695,
        0.10018432885408401,
        0.8377125263214111
      ],
      "bottle_quaternion_world": [
        0.7285144925117493,
        4.64720833406318e-05,
        -1.019990122586023e-05,
        0.685030460357666
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.15,
      "clearance_m": -0.0002593398094177246,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.426003634929657,
      "action": [
        0.33832964301109314,
        0.36995038390159607,
        -0.4921993911266327,
        0.5610731840133667,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2647933959960938,
        -0.264030396938324,
        -3.483056207187474e-05,
        -1.6858304738998413,
        -1.4444736242294312,
        1.8364721536636353,
        1.0078312158584595,
        0.990128219127655,
        0.022974830120801926,
        0.07906564325094223,
        -0.8697507977485657,
        0.37015780806541443,
        -0.32636913657188416,
        0.3150540590286255,
        0.9255251884460449,
        0.21010519564151764
      ],
      "bottle_position_world": [
        -0.20122870802879333,
        0.10019508004188538,
        0.8377130627632141
      ],
      "bottle_quaternion_world": [
        0.7285147905349731,
        -5.415566192823462e-05,
        4.371747127152048e-05,
        0.6850301027297974
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.200000000000001,
      "clearance_m": -0.00025957822799682617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600730061531067,
      "action": [
        0.3345295488834381,
        0.36900627613067627,
        -0.4835323989391327,
        0.5674823522567749,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.264627695083618,
        -0.2636485695838928,
        -1.6817621144582517e-05,
        -1.6874380111694336,
        -1.4448341131210327,
        1.8472448587417603,
        1.006945013999939,
        0.9904669523239136,
        0.022995516657829285,
        0.07897652685642242,
        -0.8659428954124451,
        0.37992289662361145,
        -0.3252720236778259,
        0.3241285979747772,
        0.9215971231460571,
        0.21354122459888458
      ],
      "bottle_position_world": [
        -0.20123642683029175,
        0.10019363462924957,
        0.8377130627632141
      ],
      "bottle_quaternion_world": [
        0.7285152077674866,
        -9.78973475866951e-05,
        -2.40820663748309e-05,
        0.6850296258926392
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.25,
      "clearance_m": -0.00025969743728637695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260031282901764,
      "action": [
        0.3139716684818268,
        0.3766253590583801,
        -0.5077955722808838,
        0.5702099800109863,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2645368576049805,
        -0.26322585344314575,
        -2.7234258595854044e-05,
        -1.6889280080795288,
        -1.4453545808792114,
        1.8581366539001465,
        1.006881833076477,
        0.9907806515693665,
        0.022900503128767014,
        0.07883595675230026,
        -0.8619945049285889,
        0.3898288607597351,
        -0.32403624057769775,
        0.3334161341190338,
        0.9175029397010803,
        0.21684685349464417
      ],
      "bottle_position_world": [
        -0.20123843848705292,
        0.10018597543239594,
        0.8377130627632141
      ],
      "bottle_quaternion_world": [
        0.7285158634185791,
        -5.567525658989325e-05,
        -9.396608220413327e-05,
        0.6850289106369019
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.3,
      "clearance_m": -0.00026041269302368164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598816752433777,
      "action": [
        0.32477304339408875,
        0.3682917058467865,
        -0.466038316488266,
        0.5769693851470947,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.264467477798462,
        -0.2629733383655548,
        -2.939426303782966e-05,
        -1.6903741359710693,
        -1.4457207918167114,
        1.8685063123703003,
        1.006840705871582,
        0.9910888671875,
        0.02282816357910633,
        0.07885470241308212,
        -0.8580947518348694,
        0.39922359585762024,
        -0.32294636964797974,
        0.3421458601951599,
        0.9134948253631592,
        0.22014522552490234
      ],
      "bottle_position_world": [
        -0.20121468603610992,
        0.10018496960401535,
        0.8377125859260559
      ],
      "bottle_quaternion_world": [
        0.7285167574882507,
        0.0001192911367979832,
        7.68537720432505e-05,
        0.6850279569625854
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.350000000000001,
      "clearance_m": -0.0002594590187072754,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600083351135254,
      "action": [
        0.31909605860710144,
        0.3725024163722992,
        -0.47513464093208313,
        0.5746580362319946,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2643673419952393,
        -0.26267316937446594,
        -2.7720096113625914e-05,
        -1.6918164491653442,
        -1.446136713027954,
        1.8790884017944336,
        1.0066828727722168,
        0.9913932085037231,
        0.022773073986172676,
        0.07882249355316162,
        -0.8540551066398621,
        0.4087470471858978,
        -0.32173892855644226,
        0.35101476311683655,
        0.9093165397644043,
        0.22345592081546783
      ],
      "bottle_position_world": [
        -0.20123696327209473,
        0.10018403083086014,
        0.8377130627632141
      ],
      "bottle_quaternion_world": [
        0.7285173535346985,
        -3.0810620955890045e-05,
        -9.660285286372527e-05,
        0.6850273609161377
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.4,
      "clearance_m": -0.0002608299255371094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260067939758301,
      "action": [
        0.3129776418209076,
        0.3729777932167053,
        -0.4714324176311493,
        0.5783640146255493,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2642698287963867,
        -0.26238617300987244,
        -2.349252645217348e-05,
        -1.6932176351547241,
        -1.4465421438217163,
        1.8898205757141113,
        1.0065199136734009,
        0.9916884899139404,
        0.022719593718647957,
        0.07879427075386047,
        -0.8498785495758057,
        0.41836583614349365,
        -0.32043254375457764,
        0.3599700331687927,
        0.9049733877182007,
        0.22681571543216705
      ],
      "bottle_position_world": [
        -0.2012432962656021,
        0.10018638521432877,
        0.8377118706703186
      ],
      "bottle_quaternion_world": [
        0.7285183072090149,
        -9.252080781152472e-05,
        -0.00012657332990784198,
        0.6850264072418213
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.450000000000001,
      "clearance_m": -0.0002613663673400879,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260091185569763,
      "action": [
        0.3069884479045868,
        0.3736740052700043,
        -0.47085216641426086,
        0.582888126373291,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2641751766204834,
        -0.262096643447876,
        -2.1608033421216533e-05,
        -1.6945791244506836,
        -1.4469287395477295,
        1.9006922245025635,
        1.006353735923767,
        0.9919751286506653,
        0.022669339552521706,
        0.07875850051641464,
        -0.845568835735321,
        0.42806732654571533,
        -0.31901711225509644,
        0.3689993917942047,
        0.9004648327827454,
        0.23022343218326569
      ],
      "bottle_position_world": [
        -0.20124155282974243,
        0.1001909151673317,
        0.8377113342285156
      ],
      "bottle_quaternion_world": [
        0.7285197377204895,
        -0.00011339854245306924,
        -8.118658297462389e-05,
        0.6850248575210571
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.5,
      "clearance_m": -0.0002608299255371094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42601022124290466,
      "action": [
        0.3012881577014923,
        0.3741365671157837,
        -0.46929261088371277,
        0.5878481864929199,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.264098644256592,
        -0.2618410587310791,
        -2.337760633963626e-05,
        -1.6958222389221191,
        -1.4472713470458984,
        1.911044716835022,
        1.006242036819458,
        0.9922378063201904,
        0.022616665810346603,
        0.07873713225126266,
        -0.8413814306259155,
        0.4372723400592804,
        -0.31760090589523315,
        0.37755998969078064,
        0.8960669040679932,
        0.23347945511341095
      ],
      "bottle_position_world": [
        -0.20123377442359924,
        0.10019933432340622,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.7285211682319641,
        -0.00012096005957573652,
        3.6566038033925e-05,
        0.685023307800293
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.55,
      "clearance_m": -0.00025916099548339844,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259931147098541,
      "action": [
        0.2988719642162323,
        0.376619815826416,
        -0.4666423499584198,
        0.5820293426513672,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2639873027801514,
        -0.26157161593437195,
        -2.1764661141787656e-05,
        -1.6970678567886353,
        -1.447672724723816,
        1.9216156005859375,
        1.0060621500015259,
        0.9924981594085693,
        0.022582197561860085,
        0.07869862020015717,
        -0.8370345234870911,
        0.4465997815132141,
        -0.3161049485206604,
        0.38625073432922363,
        0.8914947509765625,
        0.23674462735652924
      ],
      "bottle_position_world": [
        -0.20121708512306213,
        0.10019036382436752,
        0.8377134203910828
      ],
      "bottle_quaternion_world": [
        0.7285225987434387,
        6.382608262356371e-05,
        9.771751501830295e-05,
        0.6850217580795288
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.600000000000001,
      "clearance_m": -0.00026679039001464844,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598655819892883,
      "action": [
        0.29290297627449036,
        0.3767812252044678,
        -0.4648306667804718,
        0.5855058431625366,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.263875961303711,
        -0.2613033950328827,
        -1.7948048480320722e-05,
        -1.6982755661010742,
        -1.448063611984253,
        1.9323368072509766,
        1.005879521369934,
        0.9927499294281006,
        0.02255193144083023,
        0.07865357398986816,
        -0.8325510025024414,
        0.45601361989974976,
        -0.3145008981227875,
        0.3950223922729492,
        0.8867546319961548,
        0.24004994332790375
      ],
      "bottle_position_world": [
        -0.2012179046869278,
        0.10017986595630646,
        0.8377124071121216
      ],
      "bottle_quaternion_world": [
        0.7285235524177551,
        0.00013570218288805336,
        1.7149319319287315e-05,
        0.6850207448005676
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.65,
      "clearance_m": -0.00026041269302368164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259869456291199,
      "action": [
        0.28748419880867004,
        0.37710660696029663,
        -0.46299639344215393,
        0.5896282196044922,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.263768196105957,
        -0.2610340714454651,
        -1.6465868611703627e-05,
        -1.6994444131851196,
        -1.4484350681304932,
        1.943197250366211,
        1.0057051181793213,
        0.9929937720298767,
        0.022524641826748848,
        0.07860206812620163,
        -0.8279311656951904,
        0.46550390124320984,
        -0.3127886652946472,
        0.4038632810115814,
        0.8818462491035461,
        0.2433973103761673
      ],
      "bottle_position_world": [
        -0.2012135088443756,
        0.10018423944711685,
        0.8377125263214111
      ],
      "bottle_quaternion_world": [
        0.7285248041152954,
        0.0001338502042926848,
        8.055621583480388e-05,
        0.6850194334983826
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.700000000000001,
      "clearance_m": -0.00026041269302368164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598891258239746,
      "action": [
        0.28286638855934143,
        0.3771202266216278,
        -0.46122798323631287,
        0.5936453342437744,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2636775970458984,
        -0.2607945203781128,
        -1.7510496036265977e-05,
        -1.700514316558838,
        -1.4487651586532593,
        1.9535408020019531,
        1.0055921077728271,
        0.9932175874710083,
        0.02249416895210743,
        0.07856353372335434,
        -0.8234480619430542,
        0.47450363636016846,
        -0.31109529733657837,
        0.4122418761253357,
        0.8770694732666016,
        0.2465897649526596
      ],
      "bottle_position_world": [
        -0.2012205719947815,
        0.10018090158700943,
        0.8377123475074768
      ],
      "bottle_quaternion_world": [
        0.7285255193710327,
        0.00010837704030564055,
        3.699236003740225e-06,
        0.6850187182426453
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.75,
      "clearance_m": -0.00026023387908935547,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599499225616455,
      "action": [
        0.28090736269950867,
        0.3794736862182617,
        -0.45777133107185364,
        0.5874454975128174,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2635505199432373,
        -0.2605415880680084,
        -1.5172931853157934e-05,
        -1.7015855312347412,
        -1.449153184890747,
        1.964103102684021,
        1.0054068565368652,
        0.9934388995170593,
        0.02248414419591427,
        0.07850906252861023,
        -0.8188011646270752,
        0.48361679911613464,
        -0.30932119488716125,
        0.4207424819469452,
        0.8721137046813965,
        0.24978706240653992
      ],
      "bottle_position_world": [
        -0.20123109221458435,
        0.10018040239810944,
        0.8377122282981873
      ],
      "bottle_quaternion_world": [
        0.7285264730453491,
        3.7442358006956056e-05,
        -7.867857493693009e-05,
        0.6850177049636841
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.8,
      "clearance_m": -0.0002601146697998047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260003864765167,
      "action": [
        0.27592262625694275,
        0.37949302792549133,
        -0.4559188187122345,
        0.5903352499008179,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2634217739105225,
        -0.2602871060371399,
        -1.2057902495143935e-05,
        -1.7026246786117554,
        -1.4495304822921753,
        1.9748176336288452,
        1.0052170753479004,
        0.9936529397964478,
        0.022479740902781487,
        0.07844609022140503,
        -0.8140134811401367,
        0.49281033873558044,
        -0.30744150280952454,
        0.4293190836906433,
        0.8669870495796204,
        0.2530193626880646
      ],
      "bottle_position_world": [
        -0.2012360394001007,
        0.10018375515937805,
        0.8377122282981873
      ],
      "bottle_quaternion_world": [
        0.7285274863243103,
        -2.2393976905732416e-05,
        -9.233731543645263e-05,
        0.6850165724754333
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.850000000000001,
      "clearance_m": -0.0002607107162475586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259950816631317,
      "action": [
        0.2716147005558014,
        0.3794105350971222,
        -0.45364394783973694,
        0.5937663316726685,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2632946968078613,
        -0.2600303888320923,
        -1.0482277502887882e-05,
        -1.7036315202713013,
        -1.4498883485794067,
        1.985672950744629,
        1.0050336122512817,
        0.9938606023788452,
        0.02247980237007141,
        0.0783768966794014,
        -0.8090860247612,
        0.5020726919174194,
        -0.3054559826850891,
        0.4379584789276123,
        0.8616897463798523,
        0.25628846883773804
      ],
      "bottle_position_world": [
        -0.20121851563453674,
        0.10019108653068542,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7285283803939819,
        4.699262717622332e-05,
        9.134870197158307e-05,
        0.6850156784057617
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.9,
      "clearance_m": -0.00025838613510131836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600181698799133,
      "action": [
        0.26761069893836975,
        0.3789680302143097,
        -0.4511213004589081,
        0.5974881649017334,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2631850242614746,
        -0.25980308651924133,
        -1.036165667755995e-05,
        -1.7045512199401855,
        -1.4502038955688477,
        1.9960105419158936,
        1.0049080848693848,
        0.9940505623817444,
        0.022476784884929657,
        0.07832164317369461,
        -0.804311990737915,
        0.5108493566513062,
        -0.3035052716732025,
        0.446139395236969,
        0.8565452694892883,
        0.2594035863876343
      ],
      "bottle_position_world": [
        -0.20123843848705292,
        0.10018476098775864,
        0.8377143144607544
      ],
      "bottle_quaternion_world": [
        0.7285289168357849,
        -4.590382377500646e-05,
        -0.00010176030627917498,
        0.6850151419639587
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 10.950000000000001,
      "clearance_m": -0.00025975704193115234,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600080370903015,
      "action": [
        0.2662113606929779,
        0.3811054527759552,
        -0.44771793484687805,
        0.5905976295471191,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.263036012649536,
        -0.25956007838249207,
        -1.006444108497817e-05,
        -1.7054709196090698,
        -1.4505778551101685,
        2.0065691471099854,
        1.0047061443328857,
        0.9942383766174316,
        0.022496726363897324,
        0.07824946939945221,
        -0.7993699312210083,
        0.5197323560714722,
        -0.3014736473560333,
        0.4544367492198944,
        0.8512178063392639,
        0.26251834630966187
      ],
      "bottle_position_world": [
        -0.20123639702796936,
        0.10018440335988998,
        0.8377129435539246
      ],
      "bottle_quaternion_world": [
        0.7285292148590088,
        -2.8857786674052477e-05,
        -8.896143845049664e-05,
        0.6850147247314453
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.0,
      "clearance_m": -0.0002575516700744629,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260004758834839,
      "action": [
        0.2617711126804352,
        0.3806012272834778,
        -0.444985955953598,
        0.5931296348571777,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2628848552703857,
        -0.2593174874782562,
        -6.510539606097154e-06,
        -1.7063605785369873,
        -1.4509388208389282,
        2.0172789096832275,
        1.0044958591461182,
        0.9944191575050354,
        0.022523388266563416,
        0.07817036658525467,
        -0.794284999370575,
        0.5286867022514343,
        -0.2993364632129669,
        0.462801992893219,
        0.8457173109054565,
        0.26566338539123535
      ],
      "bottle_position_world": [
        -0.20123626291751862,
        0.10018515586853027,
        0.8377150893211365
      ],
      "bottle_quaternion_world": [
        0.7285295128822327,
        -3.334058419568464e-05,
        -8.248600352089852e-05,
        0.6850144267082214
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.05,
      "clearance_m": -0.00025910139083862305,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259903132915497,
      "action": [
        0.25799325108528137,
        0.3800846040248871,
        -0.442564994096756,
        0.5959882736206055,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2627358436584473,
        -0.25907227396965027,
        -4.322896984376712e-06,
        -1.7072218656539917,
        -1.451282262802124,
        2.0281295776367188,
        1.004312515258789,
        0.9945942163467407,
        0.02255355566740036,
        0.07808458060026169,
        -0.7890562415122986,
        0.5377032160758972,
        -0.29709598422050476,
        0.4712255299091339,
        0.8400434851646423,
        0.268838107585907
      ],
      "bottle_position_world": [
        -0.2012208104133606,
        0.1001831591129303,
        0.837713360786438
      ],
      "bottle_quaternion_world": [
        0.7285300493240356,
        9.040494478540495e-05,
        1.842436358856503e-05,
        0.6850138902664185
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.100000000000001,
      "clearance_m": -0.0002587437629699707,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260002672672272,
      "action": [
        0.254276305437088,
        0.3793269693851471,
        -0.4397110641002655,
        0.5994312763214111,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2626073360443115,
        -0.25885510444641113,
        -5.8303758123656735e-06,
        -1.7080035209655762,
        -1.4515844583511353,
        2.0384631156921387,
        1.0042026042938232,
        0.994753897190094,
        0.022576861083507538,
        0.07801453769207001,
        -0.783995509147644,
        0.5462439060211182,
        -0.2949046492576599,
        0.4792003333568573,
        0.8345417380332947,
        0.27185890078544617
      ],
      "bottle_position_world": [
        -0.20123788714408875,
        0.10018289089202881,
        0.837713897228241
      ],
      "bottle_quaternion_world": [
        0.7285311222076416,
        -2.8812832169933245e-05,
        -0.00011068909225286916,
        0.685012698173523
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.15,
      "clearance_m": -0.00026720762252807617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260057210922241,
      "action": [
        0.2536258399486542,
        0.38103920221328735,
        -0.43594226241111755,
        0.5920156240463257,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.262439012527466,
        -0.25862324237823486,
        -4.909388280793792e-06,
        -1.7087913751602173,
        -1.4519457817077637,
        2.0490167140960693,
        1.0040302276611328,
        0.9949120283126831,
        0.022623125463724136,
        0.07792796194553375,
        -0.7787615656852722,
        0.5548819303512573,
        -0.2926379144191742,
        0.48728320002555847,
        0.8288542628288269,
        0.2748749852180481
      ],
      "bottle_position_world": [
        -0.20122672617435455,
        0.10019902884960175,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.7285324335098267,
        -7.008016837062314e-05,
        8.611007797298953e-05,
        0.6850113272666931
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.200000000000001,
      "clearance_m": -0.0002605319023132324,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598795890808105,
      "action": [
        0.2500951588153839,
        0.3800662159919739,
        -0.43345215916633606,
        0.594086766242981,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2622687816619873,
        -0.2583887577056885,
        -2.7228979888604954e-06,
        -1.709554672241211,
        -1.4522948265075684,
        2.0597214698791504,
        1.0038671493530273,
        0.9950648546218872,
        0.022675609216094017,
        0.07783384621143341,
        -0.7733801007270813,
        0.5635843873023987,
        -0.2902688980102539,
        0.4954279661178589,
        0.8229906558990479,
        0.2779165804386139
      ],
      "bottle_position_world": [
        -0.20121493935585022,
        0.10018429905176163,
        0.8377121686935425
      ],
      "bottle_quaternion_world": [
        0.7285338640213013,
        0.000122684970847331,
        6.959288293728605e-05,
        0.685009777545929
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.25,
      "clearance_m": -0.00026047229766845703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598751187324524,
      "action": [
        0.24643805623054504,
        0.379190057516098,
        -0.43035098910331726,
        0.5966607332229614,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.262099504470825,
        -0.258154034614563,
        -5.094449306852766e-08,
        -1.7102868556976318,
        -1.4526245594024658,
        2.0705666542053223,
        1.0037150382995605,
        0.9952111840248108,
        0.022733444347977638,
        0.07773399353027344,
        -0.7678549885749817,
        0.5723405480384827,
        -0.2877937853336334,
        0.5036242604255676,
        0.8169528841972351,
        0.2809819281101227
      ],
      "bottle_position_world": [
        -0.20122195780277252,
        0.1001775786280632,
        0.8377121090888977
      ],
      "bottle_quaternion_world": [
        0.7285353541374207,
        0.00012304872507229447,
        -3.05995017697569e-05,
        0.6850082874298096
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.3,
      "clearance_m": -0.00026094913482666016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259944260120392,
      "action": [
        0.24313566088676453,
        0.378323495388031,
        -0.42746153473854065,
        0.5995135307312012,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2619497776031494,
        -0.2579462230205536,
        1.8327973805298825e-07,
        -1.7109472751617432,
        -1.4529143571853638,
        2.0808959007263184,
        1.0036228895187378,
        0.9953436255455017,
        0.02278480865061283,
        0.07764903455972672,
        -0.7625149488449097,
        0.5806286334991455,
        -0.28537964820861816,
        0.5113797187805176,
        0.8111074566841125,
        0.28389379382133484
      ],
      "bottle_position_world": [
        -0.20123332738876343,
        0.10017737001180649,
        0.8377116918563843
      ],
      "bottle_quaternion_world": [
        0.72853684425354,
        4.453227302292362e-05,
        -0.00011647884093690664,
        0.6850066184997559
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.350000000000001,
      "clearance_m": -0.0002608299255371094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600488662719727,
      "action": [
        0.24305972456932068,
        0.3796032667160034,
        -0.42296525835990906,
        0.5915806293487549,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2617592811584473,
        -0.25772354006767273,
        1.7706436494790978e-07,
        -1.711613416671753,
        -1.4532631635665894,
        2.091444730758667,
        1.0034699440002441,
        0.9954749345779419,
        0.022860173135995865,
        0.07754894345998764,
        -0.7569971680641174,
        0.5890055298805237,
        -0.28289252519607544,
        0.519235372543335,
        0.8050729632377625,
        0.2867969870567322
      ],
      "bottle_position_world": [
        -0.2012401968240738,
        0.1001863181591034,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7285382747650146,
        -7.051051215967163e-05,
        -0.00010455940355313942,
        0.6850050687789917
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.4,
      "clearance_m": -0.0002607107162475586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600950598716736,
      "action": [
        0.23980507254600525,
        0.378499299287796,
        -0.42022785544395447,
        0.5931161642074585,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2615652084350586,
        -0.257498562335968,
        2.602684162411606e-06,
        -1.7122551202774048,
        -1.4536010026931763,
        2.1021459102630615,
        1.0033173561096191,
        0.9956007599830627,
        0.022942950949072838,
        0.07744114100933075,
        -0.7513303756713867,
        0.597439169883728,
        -0.2803029417991638,
        0.5271474719047546,
        0.7988610863685608,
        0.2897186875343323
      ],
      "bottle_position_world": [
        -0.20123475790023804,
        0.10019754618406296,
        0.8377118706703186
      ],
      "bottle_quaternion_world": [
        0.7285398244857788,
        -0.00011585852189455181,
        1.5506115232710727e-05,
        0.6850035190582275
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.450000000000001,
      "clearance_m": -0.00026088953018188477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600324749946594,
      "action": [
        0.2373470962047577,
        0.3771907091140747,
        -0.4172072112560272,
        0.594833254814148,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.261417865753174,
        -0.25739240646362305,
        1.9294218873255886e-05,
        -1.712890625,
        -1.4539332389831543,
        2.112983226776123,
        1.0033921003341675,
        0.9957259893417358,
        0.022980904206633568,
        0.07744085788726807,
        -0.7454533576965332,
        0.6059465408325195,
        -0.27772024273872375,
        0.5351061820983887,
        0.792456328868866,
        0.29270273447036743
      ],
      "bottle_position_world": [
        -0.20122285187244415,
        0.10019887983798981,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.728541374206543,
        -4.1708281059982255e-05,
        0.0001136080245487392,
        0.6850018501281738
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.5,
      "clearance_m": -0.000260770320892334,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599278688430786,
      "action": [
        0.2290414273738861,
        0.37950611114501953,
        -0.43306413292884827,
        0.6023545265197754,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2612106800079346,
        -0.2570677399635315,
        3.54264579982555e-06,
        -1.7134077548980713,
        -1.454193353652954,
        2.123311996459961,
        1.003027319908142,
        0.9958267211914062,
        0.023101527243852615,
        0.0772232636809349,
        -0.7399028539657593,
        0.6139484643936157,
        -0.27497532963752747,
        0.5426411032676697,
        0.78629070520401,
        0.2954455018043518
      ],
      "bottle_position_world": [
        -0.20121634006500244,
        0.10018973797559738,
        0.8377118706703186
      ],
      "bottle_quaternion_world": [
        0.7285430431365967,
        7.229392213048413e-05,
        9.705754928290844e-05,
        0.6850000619888306
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.55,
      "clearance_m": -0.0002606511116027832,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425988107919693,
      "action": [
        0.23386380076408386,
        0.37715744972229004,
        -0.40772637724876404,
        0.5864224433898926,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.261000156402588,
        -0.2568688690662384,
        4.617843842424918e-06,
        -1.7139641046524048,
        -1.4545655250549316,
        2.1338613033294678,
        1.0028949975967407,
        0.9959330558776855,
        0.023193443194031715,
        0.07712417840957642,
        -0.7340930700302124,
        0.622056782245636,
        -0.27231115102767944,
        0.5502716898918152,
        0.7799206376075745,
        0.2982036769390106
      ],
      "bottle_position_world": [
        -0.20122139155864716,
        0.10017884522676468,
        0.8377119898796082
      ],
      "bottle_quaternion_world": [
        0.7285445332527161,
        0.00011782559886341915,
        -1.7500651665613987e-05,
        0.6849984526634216
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.600000000000001,
      "clearance_m": -0.0002670884132385254,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599427700042725,
      "action": [
        0.23178377747535706,
        0.375239759683609,
        -0.4049406945705414,
        0.5895265340805054,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2607803344726562,
        -0.25665509700775146,
        5.915331712458283e-06,
        -1.7145029306411743,
        -1.4549062252044678,
        2.1445608139038086,
        1.0027424097061157,
        0.9960358142852783,
        0.023303993046283722,
        0.07700778543949127,
        -0.7281419634819031,
        0.630207896232605,
        -0.26953259110450745,
        0.5579416155815125,
        0.7733743786811829,
        0.3009878695011139
      ],
      "bottle_position_world": [
        -0.2012336105108261,
        0.10017703473567963,
        0.8377119302749634
      ],
      "bottle_quaternion_world": [
        0.728546142578125,
        4.471879219636321e-05,
        -0.00012122923362767324,
        0.6849967837333679
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.65,
      "clearance_m": -0.0002607107162475586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260050654411316,
      "action": [
        0.2290918529033661,
        0.37407034635543823,
        -0.4024493396282196,
        0.5910021066665649,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.260560989379883,
        -0.2564390003681183,
        8.50928063300671e-06,
        -1.7150177955627441,
        -1.455232858657837,
        2.1554014682769775,
        1.0026081800460815,
        0.9961332678794861,
        0.02341865748167038,
        0.07688441872596741,
        -0.722040593624115,
        0.6383990049362183,
        -0.2666536867618561,
        0.5656529664993286,
        0.7666507363319397,
        0.303782194852829
      ],
      "bottle_position_world": [
        -0.20124027132987976,
        0.10018659383058548,
        0.8377119302749634
      ],
      "bottle_quaternion_world": [
        0.7285478115081787,
        -7.326005288632587e-05,
        -0.00010336232662666589,
        0.6849950551986694
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.700000000000001,
      "clearance_m": -0.000260770320892334,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260097146034241,
      "action": [
        0.2272082269191742,
        0.37235432863235474,
        -0.3986068665981293,
        0.5931046009063721,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2603647708892822,
        -0.25624775886535645,
        8.022301699384116e-06,
        -1.7154802083969116,
        -1.4555193185806274,
        2.165724754333496,
        1.002536416053772,
        0.996221125125885,
        0.0235225148499012,
        0.07677789032459259,
        -0.7161545753479004,
        0.6461414098739624,
        -0.26386427879333496,
        0.5729395747184753,
        0.760158121585846,
        0.30643177032470703
      ],
      "bottle_position_world": [
        -0.20123513042926788,
        0.10019750148057938,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7285493612289429,
        -0.00011815402831416577,
        1.1801699656643905e-05,
        0.6849933862686157
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.75,
      "clearance_m": -0.0002608299255371094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600369453430176,
      "action": [
        0.22836431860923767,
        0.37275367975234985,
        -0.39370372891426086,
        0.5842119455337524,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2601253986358643,
        -0.2560413181781769,
        7.990125595824793e-06,
        -1.7159531116485596,
        -1.4558650255203247,
        2.176267623901367,
        1.0024075508117676,
        0.9963089227676392,
        0.02365286834537983,
        0.07665669173002243,
        -0.710083544254303,
        0.6539546847343445,
        -0.2610076069831848,
        0.5803090333938599,
        0.7534719109535217,
        0.30906644463539124
      ],
      "bottle_position_world": [
        -0.20122338831424713,
        0.10019910335540771,
        0.8377118706703186
      ],
      "bottle_quaternion_world": [
        0.7285509705543518,
        -4.7114248445723206e-05,
        0.00011032609472749755,
        0.6849915981292725
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.8,
      "clearance_m": -0.0002606511116027832,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599284648895264,
      "action": [
        0.22576674818992615,
        0.370852530002594,
        -0.390132337808609,
        0.5848616361618042,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.259880781173706,
        -0.2558332085609436,
        8.968373549578246e-06,
        -1.7163997888565063,
        -1.4562005996704102,
        2.1869609355926514,
        1.0022732019424438,
        0.9963909983634949,
        0.023792143911123276,
        0.07652857154607773,
        -0.7038614749908447,
        0.6618080735206604,
        -0.2580496370792389,
        0.5877217650413513,
        0.7466071844100952,
        0.311707079410553
      ],
      "bottle_position_world": [
        -0.20121662318706512,
        0.10018961876630783,
        0.8377119898796082
      ],
      "bottle_quaternion_world": [
        0.7285524606704712,
        7.136645581340417e-05,
        9.330874308943748e-05,
        0.6849899888038635
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.850000000000001,
      "clearance_m": -0.0002606511116027832,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598801851272583,
      "action": [
        0.2235085666179657,
        0.36899930238723755,
        -0.38637492060661316,
        0.5858733654022217,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.259634494781494,
        -0.2556241452693939,
        1.0880649824684951e-05,
        -1.716821312904358,
        -1.4565201997756958,
        2.1977946758270264,
        1.0021467208862305,
        0.9964675903320312,
        0.023938102647662163,
        0.07639440149068832,
        -0.697489857673645,
        0.66969233751297,
        -0.2549915909767151,
        0.5951680541038513,
        0.7395655512809753,
        0.31435397267341614
      ],
      "bottle_position_world": [
        -0.20122160017490387,
        0.1001785546541214,
        0.8377119898796082
      ],
      "bottle_quaternion_world": [
        0.7285539507865906,
        0.00011852583702420816,
        -2.196880814153701e-05,
        0.6849884390830994
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.9,
      "clearance_m": -0.0002606511116027832,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599427700042725,
      "action": [
        0.2213822901248932,
        0.3670894205570221,
        -0.38245245814323425,
        0.5873101949691772,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2594125270843506,
        -0.2554398477077484,
        1.0349583135393914e-05,
        -1.7171930074691772,
        -1.4568036794662476,
        2.2081122398376465,
        1.0020803213119507,
        0.9965351819992065,
        0.024071048945188522,
        0.07627716660499573,
        -0.6913480758666992,
        0.6771393418312073,
        -0.2520328760147095,
        0.6022018194198608,
        0.732772707939148,
        0.31685590744018555
      ],
      "bottle_position_world": [
        -0.20123347640037537,
        0.10017719864845276,
        0.8377119898796082
      ],
      "bottle_quaternion_world": [
        0.7285553812980652,
        4.4647211325354874e-05,
        -0.00012009568308712915,
        0.6849868893623352
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 11.950000000000001,
      "clearance_m": -0.0002607107162475586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260050058364868,
      "action": [
        0.22266975045204163,
        0.36728450655937195,
        -0.3768523633480072,
        0.5781664848327637,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.259146213531494,
        -0.25524240732192993,
        1.1038529009965714e-05,
        -1.7175730466842651,
        -1.4571465253829956,
        2.2186479568481445,
        1.0019558668136597,
        0.996601939201355,
        0.02423165738582611,
        0.07614651322364807,
        -0.685019850730896,
        0.6846479773521423,
        -0.24900828301906586,
        0.6093102097511292,
        0.7257853746414185,
        0.3193380534648895
      ],
      "bottle_position_world": [
        -0.2012401819229126,
        0.10018659383058548,
        0.8377119302749634
      ],
      "bottle_quaternion_world": [
        0.7285568714141846,
        -7.270196510944515e-05,
        -0.00010362767352489755,
        0.684985339641571
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.0,
      "clearance_m": -0.0002009868621826172,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4261772632598877,
      "action": [
        0.2206580936908722,
        0.36518213152885437,
        -0.37339362502098083,
        0.5784323215484619,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.258881092071533,
        -0.25505319237709045,
        1.0228507562715095e-05,
        -1.7179254293441772,
        -1.4574780464172363,
        2.22933030128479,
        1.001847505569458,
        0.9966630339622498,
        0.024394813925027847,
        0.07601965963840485,
        -0.6785345077514648,
        0.692190945148468,
        -0.24589219689369202,
        0.6164549589157104,
        0.7186177372932434,
        0.3218267261981964
      ],
      "bottle_position_world": [
        -0.20143748819828033,
        0.10029250383377075,
        0.8377737998962402
      ],
      "bottle_quaternion_world": [
        0.7286734580993652,
        -0.00010652990022208542,
        -9.284499537898228e-05,
        0.6848613619804382
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.05,
      "clearance_m": -5.644559860229492e-05,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42691361904144287,
      "action": [
        0.223067969083786,
        0.3637661337852478,
        -0.36969271302223206,
        0.5804151296615601,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.258610486984253,
        -0.25485295057296753,
        1.1866002751048654e-05,
        -1.7182948589324951,
        -1.4577707052230835,
        2.2401554584503174,
        1.0017439126968384,
        0.996728241443634,
        0.02457411400973797,
        0.07588512450456619,
        -0.6718981862068176,
        0.6997547745704651,
        -0.24268557131290436,
        0.6236090064048767,
        0.7112730145454407,
        0.32434964179992676
      ],
      "bottle_position_world": [
        -0.20214296877384186,
        0.10080453753471375,
        0.8379238843917847
      ],
      "bottle_quaternion_world": [
        0.7281889915466309,
        -0.00030161140603013337,
        -6.197907350724563e-05,
        0.6853764057159424
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.100000000000001,
      "clearance_m": -9.72747802734375e-05,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4277138113975525,
      "action": [
        0.23186305165290833,
        0.36561211943626404,
        -0.3765760362148285,
        0.5883400440216064,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2583746910095215,
        -0.2546265125274658,
        8.535933375242166e-06,
        -1.7187403440475464,
        -1.45798659324646,
        2.250474452972412,
        1.0017871856689453,
        0.9968124628067017,
        0.024737954139709473,
        0.07574452459812164,
        -0.6654872894287109,
        0.7069031000137329,
        -0.23961497843265533,
        0.6303379535675049,
        0.704183042049408,
        0.3268040120601654
      ],
      "bottle_position_world": [
        -0.20284458994865417,
        0.10134101659059525,
        0.8379397392272949
      ],
      "bottle_quaternion_world": [
        0.727511465549469,
        -0.001824042177759111,
        -0.000133689129143022,
        0.6860930919647217
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.15,
      "clearance_m": -5.042552947998047e-05,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42852258682250977,
      "action": [
        0.247645765542984,
        0.36857929825782776,
        -0.37960514426231384,
        0.5835661888122559,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2580971717834473,
        -0.2543511688709259,
        4.968466328136856e-06,
        -1.7193584442138672,
        -1.4582197666168213,
        2.261023998260498,
        1.0018552541732788,
        0.9969320297241211,
        0.024934351444244385,
        0.07558919489383698,
        -0.6588579416275024,
        0.7141097187995911,
        -0.23654508590698242,
        0.6370885968208313,
        0.696888267993927,
        0.32934024930000305
      ],
      "bottle_position_world": [
        -0.20356813073158264,
        0.10189773887395859,
        0.838009774684906
      ],
      "bottle_quaternion_world": [
        0.7268043160438538,
        -0.0023761780466884375,
        -0.00021457861294038594,
        0.6868405342102051
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.200000000000001,
      "clearance_m": -5.334615707397461e-05,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42939937114715576,
      "action": [
        0.2582983076572418,
        0.3695959448814392,
        -0.38531848788261414,
        0.5907739400863647,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2578225135803223,
        -0.2540368139743805,
        5.845739451615373e-06,
        -1.720105528831482,
        -1.458388328552246,
        2.2717342376708984,
        1.0019620656967163,
        0.9970800876617432,
        0.025142814964056015,
        0.07542034238576889,
        -0.6520516276359558,
        0.7213490009307861,
        -0.2334197461605072,
        0.643828272819519,
        0.6894024610519409,
        0.33197876811027527
      ],
      "bottle_position_world": [
        -0.20432598888874054,
        0.10249123722314835,
        0.8380220532417297
      ],
      "bottle_quaternion_world": [
        0.7259417772293091,
        -0.002964525017887354,
        -0.00024512052186764777,
        0.6877497434616089
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.25,
      "clearance_m": -5.8650970458984375e-05,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4302724301815033,
      "action": [
        0.2697310149669647,
        0.37140530347824097,
        -0.393283873796463,
        0.5944854021072388,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.25754714012146,
        -0.25368601083755493,
        8.103888831101358e-07,
        -1.7209937572479248,
        -1.4585198163986206,
        2.2826015949249268,
        1.0021213293075562,
        0.9972597360610962,
        0.02535885199904442,
        0.07524749636650085,
        -0.6450589895248413,
        0.728611946105957,
        -0.23027007281780243,
        0.6505482196807861,
        0.6817295551300049,
        0.3347126245498657
      ],
      "bottle_position_world": [
        -0.20509661734104156,
        0.10308820009231567,
        0.8380743861198425
      ],
      "bottle_quaternion_world": [
        0.7247801423072815,
        -0.004267755895853043,
        -0.0005701336194761097,
        0.6889668107032776
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.3,
      "clearance_m": -9.250640869140625e-05,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4311296045780182,
      "action": [
        0.28083446621894836,
        0.3724144995212555,
        -0.398541659116745,
        0.6024219989776611,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.257305145263672,
        -0.2533412277698517,
        -5.138276264915476e-06,
        -1.7219513654708862,
        -1.4585775136947632,
        2.292959451675415,
        1.0023376941680908,
        0.997456431388855,
        0.025560466572642326,
        0.07509682327508926,
        -0.6383092999458313,
        0.7354654669761658,
        -0.22727060317993164,
        0.6568412780761719,
        0.6743322014808655,
        0.33739569783210754
      ],
      "bottle_position_world": [
        -0.20582373440265656,
        0.10368231683969498,
        0.8380924463272095
      ],
      "bottle_quaternion_world": [
        0.7235671281814575,
        -0.005786512512713671,
        -0.0005637082504108548,
        0.690229594707489
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.350000000000001,
      "clearance_m": -0.00010246038436889648,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4320439398288727,
      "action": [
        0.2948310673236847,
        0.37519901990890503,
        -0.4033738076686859,
        0.6014693975448608,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2570292949676514,
        -0.2529537081718445,
        -6.1629098127014e-06,
        -1.7230803966522217,
        -1.4586248397827148,
        2.3035426139831543,
        1.0024880170822144,
        0.9976885318756104,
        0.02579438127577305,
        0.07493545114994049,
        -0.6313490271568298,
        0.7423696517944336,
        -0.22424542903900146,
        0.6631393432617188,
        0.6667253971099854,
        0.3401820659637451
      ],
      "bottle_position_world": [
        -0.20659935474395752,
        0.10431814193725586,
        0.8381169438362122
      ],
      "bottle_quaternion_world": [
        0.7222042083740234,
        -0.006788916885852814,
        -0.0007248345646075904,
        0.6916462182998657
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.4,
      "clearance_m": -0.00014889240264892578,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4330068528652191,
      "action": [
        0.3043150007724762,
        0.37691545486450195,
        -0.4121420085430145,
        0.6072384119033813,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2567529678344727,
        -0.25252917408943176,
        -6.745068731106585e-06,
        -1.7243422269821167,
        -1.4586255550384521,
        2.314290761947632,
        1.0026487112045288,
        0.9979495406150818,
        0.026038937270641327,
        0.07476475089788437,
        -0.6242081522941589,
        0.7492988109588623,
        -0.22116830945014954,
        0.6694194674491882,
        0.6589259505271912,
        0.34306594729423523
      ],
      "bottle_position_world": [
        -0.20740307867527008,
        0.10498934984207153,
        0.8381245732307434
      ],
      "bottle_quaternion_world": [
        0.7206456065177917,
        -0.008449647575616837,
        -0.0009749927558004856,
        0.6932515501976013
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.450000000000001,
      "clearance_m": -0.00012248754501342773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.43395674228668213,
      "action": [
        0.31462642550468445,
        0.3785935938358307,
        -0.42042645812034607,
        0.6133518218994141,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2564826011657715,
        -0.2520747482776642,
        -1.0472543181094807e-05,
        -1.725745677947998,
        -1.458572506904602,
        2.32519268989563,
        1.0028398036956787,
        0.9982420802116394,
        0.026289118453860283,
        0.07459599524736404,
        -0.6168864369392395,
        0.7562447786331177,
        -0.2180485874414444,
        0.6756659746170044,
        0.6509363651275635,
        0.3460606038570404
      ],
      "bottle_position_world": [
        -0.2082296460866928,
        0.10566467046737671,
        0.8382176160812378
      ],
      "bottle_quaternion_world": [
        0.7189814448356628,
        -0.010066107846796513,
        -0.0013504804810509086,
        0.694955050945282
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.5,
      "clearance_m": -0.00021022558212280273,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.43483462929725647,
      "action": [
        0.32589879631996155,
        0.379806786775589,
        -0.42598578333854675,
        0.6205548048019409,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2562971115112305,
        -0.2517353594303131,
        -2.788106030493509e-05,
        -1.7272026538848877,
        -1.4585151672363281,
        2.335570812225342,
        1.0034432411193848,
        0.9985513687133789,
        0.02645409293472767,
        0.07455948740243912,
        -0.6097564101219177,
        0.7628157138824463,
        -0.21519601345062256,
        0.6815022230148315,
        0.6432219743728638,
        0.3490276038646698
      ],
      "bottle_position_world": [
        -0.20892111957073212,
        0.1063348576426506,
        0.8382716774940491
      ],
      "bottle_quaternion_world": [
        0.7170397043228149,
        -0.014331414364278316,
        -0.0015562078915536404,
        0.6968832612037659
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.55,
      "clearance_m": -3.892183303833008e-05,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4358365535736084,
      "action": [
        0.3481580317020416,
        0.3781953454017639,
        -0.41800543665885925,
        0.6209574937820435,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.255969524383545,
        -0.251231849193573,
        -1.168269409390632e-05,
        -1.7289011478424072,
        -1.4583063125610352,
        2.346203088760376,
        1.0030198097229004,
        0.9989054203033447,
        0.02679816447198391,
        0.07439368963241577,
        -0.6025396585464478,
        0.7693758010864258,
        -0.21214894950389862,
        0.6872664093971252,
        0.6353382468223572,
        0.3521516025066376
      ],
      "bottle_position_world": [
        -0.20987248420715332,
        0.1070701852440834,
        0.838557243347168
      ],
      "bottle_quaternion_world": [
        0.7152490019798279,
        -0.017459258437156677,
        -0.002437629969790578,
        0.6986473798751831
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.600000000000001,
      "clearance_m": -0.0002174973487854004,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4368650019168854,
      "action": [
        0.33870652318000793,
        0.39034271240234375,
        -0.4601726830005646,
        0.6267387866973877,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2556889057159424,
        -0.25064027309417725,
        -1.720305772323627e-05,
        -1.7306277751922607,
        -1.458186388015747,
        2.3570051193237305,
        1.003175139427185,
        0.9992656707763672,
        0.027069998905062675,
        0.07415669411420822,
        -0.5950964689254761,
        0.7759941220283508,
        -0.20903050899505615,
        0.6931224465370178,
        0.6272254586219788,
        0.35520413517951965
      ],
      "bottle_position_world": [
        -0.2107122540473938,
        0.1077796071767807,
        0.8385237455368042
      ],
      "bottle_quaternion_world": [
        0.7128514051437378,
        -0.02189210057258606,
        -0.003254283219575882,
        0.7009657621383667
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.65,
      "clearance_m": -0.0001774430274963379,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4378933906555176,
      "action": [
        0.3596908152103424,
        0.3850769102573395,
        -0.4396352469921112,
        0.6380330324172974,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.255425214767456,
        -0.2501020133495331,
        -1.704364512988832e-05,
        -1.7325648069381714,
        -1.4579148292541504,
        2.3679511547088623,
        1.0033715963363647,
        0.999674379825592,
        0.027362113818526268,
        0.07401534169912338,
        -0.5874740481376648,
        0.7826125621795654,
        -0.20589396357536316,
        0.6988568305969238,
        0.618922770023346,
        0.35851675271987915
      ],
      "bottle_position_world": [
        -0.21163487434387207,
        0.10854656249284744,
        0.8387523293495178
      ],
      "bottle_quaternion_world": [
        0.7105855941772461,
        -0.02770736999809742,
        -0.004184640012681484,
        0.7030525803565979
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.700000000000001,
      "clearance_m": -0.00021886825561523438,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4389025866985321,
      "action": [
        0.3685136139392853,
        0.38804394006729126,
        -0.4535391628742218,
        0.6497703790664673,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2551920413970947,
        -0.24956569075584412,
        -2.376020529482048e-05,
        -1.7345311641693115,
        -1.457573413848877,
        2.3783891201019287,
        1.0035738945007324,
        1.000091552734375,
        0.02764247916638851,
        0.07388823479413986,
        -0.58014315366745,
        0.7888452410697937,
        -0.20287269353866577,
        0.7041962742805481,
        0.6109275817871094,
        0.3617672622203827
      ],
      "bottle_position_world": [
        -0.2125062793493271,
        0.10931262373924255,
        0.8389469385147095
      ],
      "bottle_quaternion_world": [
        0.7084579467773438,
        -0.03536470979452133,
        -0.005067987367510796,
        0.7048482298851013
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.75,
      "clearance_m": -0.00023663043975830078,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.43995654582977295,
      "action": [
        0.3825814425945282,
        0.3915582299232483,
        -0.4579146206378937,
        0.6494424343109131,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2549221515655518,
        -0.24897508323192596,
        -2.4176270017051138e-05,
        -1.7367011308670044,
        -1.4572203159332275,
        2.3890628814697266,
        1.0036908388137817,
        1.0005496740341187,
        0.027958381921052933,
        0.07374486327171326,
        -0.5726010799407959,
        0.7951136231422424,
        -0.199806347489357,
        0.7095144987106323,
        0.6027135252952576,
        0.36513814330101013
      ],
      "bottle_position_world": [
        -0.21345536410808563,
        0.1100965142250061,
        0.839188814163208
      ],
      "bottle_quaternion_world": [
        0.7066523432731628,
        -0.04425884783267975,
        -0.006258800625801086,
        0.7061476111412048
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.8,
      "clearance_m": -0.0002707839012145996,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.44110268354415894,
      "action": [
        0.39133837819099426,
        0.39323121309280396,
        -0.4642954170703888,
        0.6618375778198242,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.254659652709961,
        -0.24834811687469482,
        -2.3039288862491958e-05,
        -1.7390211820602417,
        -1.456769585609436,
        2.39990234375,
        1.00380539894104,
        1.0010403394699097,
        0.028290925547480583,
        0.07359792292118073,
        -0.5648941397666931,
        0.8013916611671448,
        -0.19663763046264648,
        0.7147795557975769,
        0.5942973494529724,
        0.3686482012271881
      ],
      "bottle_position_world": [
        -0.21448707580566406,
        0.11095348000526428,
        0.8394638299942017
      ],
      "bottle_quaternion_world": [
        0.7048313021659851,
        -0.055492039769887924,
        -0.00766258779913187,
        0.707159698009491
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.850000000000001,
      "clearance_m": -0.00030034780502319336,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4422869384288788,
      "action": [
        0.40206775069236755,
        0.396600604057312,
        -0.4721037447452545,
        0.6662179231643677,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.254385471343994,
        -0.24768595397472382,
        -2.412449430266861e-05,
        -1.7415227890014648,
        -1.4562817811965942,
        2.410916328430176,
        1.0039260387420654,
        1.0015687942504883,
        0.028641512617468834,
        0.07345494627952576,
        -0.5570062398910522,
        0.807671070098877,
        -0.19342170655727386,
        0.7199832201004028,
        0.5856874585151672,
        0.3722832500934601
      ],
      "bottle_position_world": [
        -0.21554242074489594,
        0.111835777759552,
        0.8397263884544373
      ],
      "bottle_quaternion_world": [
        0.7029595971107483,
        -0.06734016537666321,
        -0.00904407911002636,
        0.7079769968986511
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.9,
      "clearance_m": -0.00028145313262939453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4434402585029602,
      "action": [
        0.41318634152412415,
        0.39823219180107117,
        -0.47723254561424255,
        0.6797745227813721,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2541420459747314,
        -0.24704600870609283,
        -3.1525170925306156e-05,
        -1.7440375089645386,
        -1.4557180404663086,
        2.4214205741882324,
        1.004084825515747,
        1.0021023750305176,
        0.028982145711779594,
        0.073343425989151,
        -0.5494313836097717,
        0.813575804233551,
        -0.1903158575296402,
        0.7247981429100037,
        0.5774018168449402,
        0.37586602568626404
      ],
      "bottle_position_world": [
        -0.2165585458278656,
        0.11271465569734573,
        0.8400049805641174
      ],
      "bottle_quaternion_world": [
        0.7007707357406616,
        -0.07911782711744308,
        -0.010260306298732758,
        0.7089115977287292
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 12.950000000000001,
      "clearance_m": -0.00026673078536987305,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4446985423564911,
      "action": [
        0.4277503788471222,
        0.40128201246261597,
        -0.4834335744380951,
        0.690737247467041,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2538843154907227,
        -0.24632979929447174,
        -2.9814893423463218e-05,
        -1.7467780113220215,
        -1.4550604820251465,
        2.432149887084961,
        1.004181146621704,
        1.002682089805603,
        0.029358595609664917,
        0.07319973409175873,
        -0.5416672229766846,
        0.8195075988769531,
        -0.18709439039230347,
        0.7295650243759155,
        0.5688842535018921,
        0.37961310148239136
      ],
      "bottle_position_world": [
        -0.21765148639678955,
        0.11366581916809082,
        0.8402688503265381
      ],
      "bottle_quaternion_world": [
        0.6982799768447876,
        -0.09190548211336136,
        -0.01150199119001627,
        0.7098072171211243
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.0,
      "clearance_m": -0.00026482343673706055,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4460400640964508,
      "action": [
        0.43970486521720886,
        0.4025552272796631,
        -0.49028709530830383,
        0.7079869508743286,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2536401748657227,
        -0.24556295573711395,
        -2.856399441952817e-05,
        -1.7497187852859497,
        -1.45426344871521,
        2.443044424057007,
        1.0042831897735596,
        1.0033050775527954,
        0.029755808413028717,
        0.07305113226175308,
        -0.5337480902671814,
        0.8254393339157104,
        -0.1837480515241623,
        0.7342456579208374,
        0.5601593255996704,
        0.3835432231426239
      ],
      "bottle_position_world": [
        -0.2188270539045334,
        0.11464831233024597,
        0.8405073285102844
      ],
      "bottle_quaternion_world": [
        0.6960430145263672,
        -0.10569217056035995,
        -0.012905791401863098,
        0.7100611925125122
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.05,
      "clearance_m": -0.0002644062042236328,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4474506378173828,
      "action": [
        0.4504511058330536,
        0.40639644861221313,
        -0.500727117061615,
        0.7156355381011963,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.253391981124878,
        -0.24474671483039856,
        -2.8918333555338904e-05,
        -1.7528578042984009,
        -1.4534143209457397,
        2.4541149139404297,
        1.004427194595337,
        1.0039689540863037,
        0.0301674734801054,
        0.07289668172597885,
        -0.5256541967391968,
        0.8313666582107544,
        -0.18032649159431458,
        0.738853394985199,
        0.5512332320213318,
        0.38760533928871155
      ],
      "bottle_position_world": [
        -0.22001004219055176,
        0.11569999903440475,
        0.8407042026519775
      ],
      "bottle_quaternion_world": [
        0.6934475898742676,
        -0.11990547925233841,
        -0.013897424563765526,
        0.7103239297866821
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.100000000000001,
      "clearance_m": -0.0002611875534057617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.44878244400024414,
      "action": [
        0.46337708830833435,
        0.4083942472934723,
        -0.5079522132873535,
        0.7283569574356079,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2531704902648926,
        -0.24396464228630066,
        -3.760345498449169e-05,
        -1.7560120820999146,
        -1.4525171518325806,
        2.464681386947632,
        1.0046160221099854,
        1.0046372413635254,
        0.030565466731786728,
        0.07278710603713989,
        -0.5178807377815247,
        0.8369334936141968,
        -0.17703641951084137,
        0.7430846095085144,
        0.5426463484764099,
        0.39161261916160583
      ],
      "bottle_position_world": [
        -0.22113141417503357,
        0.11667007207870483,
        0.8408535718917847
      ],
      "bottle_quaternion_world": [
        0.6908801198005676,
        -0.13323530554771423,
        -0.014984505251049995,
        0.7104284167289734
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.15,
      "clearance_m": -0.00034505128860473633,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4500338137149811,
      "action": [
        0.47793951630592346,
        0.4131389260292053,
        -0.5189393758773804,
        0.7323986291885376,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2529544830322266,
        -0.24312207102775574,
        -3.928342994186096e-05,
        -1.7594746351242065,
        -1.4515913724899292,
        2.4754977226257324,
        1.0049799680709839,
        1.0053675174713135,
        0.030959490686655045,
        0.07267771661281586,
        -0.5098534226417542,
        0.8425410985946655,
        -0.173707515001297,
        0.7472559213638306,
        0.5337979793548584,
        0.39581379294395447
      ],
      "bottle_position_world": [
        -0.22210972011089325,
        0.11757056415081024,
        0.8408341407775879
      ],
      "bottle_quaternion_world": [
        0.6848199367523193,
        -0.14182689785957336,
        -0.015008759684860706,
        0.7146198749542236
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.200000000000001,
      "clearance_m": -0.000390470027923584,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4512929618358612,
      "action": [
        0.48764917254447937,
        0.41414982080459595,
        -0.5291096568107605,
        0.743626594543457,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2527291774749756,
        -0.24221935868263245,
        -3.3578227885300294e-05,
        -1.763152837753296,
        -1.4505641460418701,
        2.486497163772583,
        1.0050593614578247,
        1.0061408281326294,
        0.03138667717576027,
        0.07255207747220993,
        -0.5016752481460571,
        0.8481374382972717,
        -0.17025111615657806,
        0.7513349652290344,
        0.5247452855110168,
        0.4001733958721161
      ],
      "bottle_position_world": [
        -0.22315442562103271,
        0.11843094229698181,
        0.8408311605453491
      ],
      "bottle_quaternion_world": [
        0.6767268776893616,
        -0.1480681598186493,
        -0.014775753021240234,
        0.7210397124290466
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.25,
      "clearance_m": -0.00044220685958862305,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.45258691906929016,
      "action": [
        0.49398073554039,
        0.4167608320713043,
        -0.5389750599861145,
        0.7529317140579224,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2525064945220947,
        -0.24126631021499634,
        -3.209704300388694e-05,
        -1.7670085430145264,
        -1.4494774341583252,
        2.497673749923706,
        1.0051707029342651,
        1.006949543952942,
        0.031824249774217606,
        0.07241854071617126,
        -0.49333134293556213,
        0.8537220358848572,
        -0.16668269038200378,
        0.7553364634513855,
        0.5154836773872375,
        0.40465253591537476
      ],
      "bottle_position_world": [
        -0.22422915697097778,
        0.11930893361568451,
        0.8408190608024597
      ],
      "bottle_quaternion_world": [
        0.6681163311004639,
        -0.15502676367759705,
        -0.014650075696408749,
        0.7275800704956055
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.3,
      "clearance_m": -0.0004608035087585449,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.45381399989128113,
      "action": [
        0.49980852007865906,
        0.4194313883781433,
        -0.547696053981781,
        0.7636281251907349,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2523064613342285,
        -0.24035941064357758,
        -4.301695298636332e-05,
        -1.7708102464675903,
        -1.4483859539031982,
        2.5084383487701416,
        1.0053253173828125,
        1.0077470541000366,
        0.03224198892712593,
        0.07232934981584549,
        -0.48525458574295044,
        0.8590068817138672,
        -0.16320399940013885,
        0.7590449452400208,
        0.5064991116523743,
        0.40903526544570923
      ],
      "bottle_position_world": [
        -0.22523678839206696,
        0.12016097456216812,
        0.8408285975456238
      ],
      "bottle_quaternion_world": [
        0.6599510908126831,
        -0.16210587322711945,
        -0.014231901615858078,
        0.7334737181663513
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.350000000000001,
      "clearance_m": -0.0003757476806640625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.45505380630493164,
      "action": [
        0.5100294351577759,
        0.42353004217147827,
        -0.5581911206245422,
        0.7660232782363892,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2521238327026367,
        -0.23949050903320312,
        -4.606332367984578e-05,
        -1.774814248085022,
        -1.4473263025283813,
        2.519336700439453,
        1.005800485610962,
        1.0085840225219727,
        0.03262915089726448,
        0.07231587171554565,
        -0.47698974609375,
        0.864268958568573,
        -0.15975123643875122,
        0.7626428604125977,
        0.4973433017730713,
        0.4135526418685913
      ],
      "bottle_position_world": [
        -0.22625792026519775,
        0.12106536328792572,
        0.8409383296966553
      ],
      "bottle_quaternion_world": [
        0.6511038541793823,
        -0.1698724925518036,
        -0.013497783802449703,
        0.7396114468574524
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.4,
      "clearance_m": -0.00033974647521972656,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.45631617307662964,
      "action": [
        0.5254979133605957,
        0.4208834767341614,
        -0.5499552488327026,
        0.7764933109283447,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.251849412918091,
        -0.2384413778781891,
        -2.8702324925689027e-05,
        -1.7790783643722534,
        -1.4460994005203247,
        2.530457019805908,
        1.0053032636642456,
        1.0094661712646484,
        0.0331508032977581,
        0.07217074185609818,
        -0.46866416931152344,
        0.8694862127304077,
        -0.15603820979595184,
        0.7661330103874207,
        0.488005667924881,
        0.4181998372077942
      ],
      "bottle_position_world": [
        -0.22720657289028168,
        0.12202702462673187,
        0.840968132019043
      ],
      "bottle_quaternion_world": [
        0.6407756209373474,
        -0.17506134510040283,
        -0.010284800082445145,
        0.7474318742752075
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.450000000000001,
      "clearance_m": -0.0005174875259399414,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.45786118507385254,
      "action": [
        0.5090196132659912,
        0.4338434338569641,
        -0.6032917499542236,
        0.7862776517868042,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.251612901687622,
        -0.23725685477256775,
        -3.617725087678991e-05,
        -1.783388376235962,
        -1.4449361562728882,
        2.5417587757110596,
        1.005397915840149,
        1.0103553533554077,
        0.033615898340940475,
        0.07191459834575653,
        -0.460133820772171,
        0.8747111558914185,
        -0.15217743813991547,
        0.7696658372879028,
        0.47842490673065186,
        0.42275846004486084
      ],
      "bottle_position_world": [
        -0.2283361703157425,
        0.1231328547000885,
        0.8407946825027466
      ],
      "bottle_quaternion_world": [
        0.6318948268890381,
        -0.18539726734161377,
        -0.008398461155593395,
        0.7525067329406738
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.5,
      "clearance_m": -0.00037860870361328125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4591446816921234,
      "action": [
        0.5338121652603149,
        0.42775535583496094,
        -0.5783692002296448,
        0.7920650243759155,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.25136399269104,
        -0.2362075299024582,
        -4.1832769056782126e-05,
        -1.7876811027526855,
        -1.4437288045883179,
        2.552633762359619,
        1.0052523612976074,
        1.0112395286560059,
        0.03410704433917999,
        0.07179249823093414,
        -0.4519234001636505,
        0.8796184659004211,
        -0.14844736456871033,
        0.7728341817855835,
        0.4691762924194336,
        0.4273185133934021
      ],
      "bottle_position_world": [
        -0.2294786274433136,
        0.12399576604366302,
        0.8409180641174316
      ],
      "bottle_quaternion_world": [
        0.6227070093154907,
        -0.19439850747585297,
        -0.008226689882576466,
        0.7578770518302917
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.55,
      "clearance_m": -0.00046747922897338867,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.46100369095802307,
      "action": [
        0.5411238670349121,
        0.4330279529094696,
        -0.5902751088142395,
        0.7982205152511597,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.251124143600464,
        -0.2350800782442093,
        -4.283132147975266e-05,
        -1.7922255992889404,
        -1.4425357580184937,
        2.563669443130493,
        1.0056260824203491,
        1.0121701955795288,
        0.03457999601960182,
        0.0716436505317688,
        -0.4435361921787262,
        0.8845034837722778,
        -0.14466987550258636,
        0.7759103775024414,
        0.4597366750240326,
        0.43197885155677795
      ],
      "bottle_position_world": [
        -0.23091252148151398,
        0.12527263164520264,
        0.8407388925552368
      ],
      "bottle_quaternion_world": [
        0.6154400110244751,
        -0.21005219221115112,
        -0.007214153651148081,
        0.7596445083618164
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.600000000000001,
      "clearance_m": -0.0005184412002563477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4628605842590332,
      "action": [
        0.5537503957748413,
        0.4379168748855591,
        -0.6116257309913635,
        0.8070753812789917,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.250873327255249,
        -0.23388876020908356,
        -3.824236773652956e-05,
        -1.7970982789993286,
        -1.441282868385315,
        2.574922561645508,
        1.0058552026748657,
        1.0131633281707764,
        0.035074517130851746,
        0.07149980962276459,
        -0.4349632263183594,
        0.8893710970878601,
        -0.1408061385154724,
        0.7788458466529846,
        0.4500710070133209,
        0.4368472397327423
      ],
      "bottle_position_world": [
        -0.23215502500534058,
        0.12671297788619995,
        0.8405559062957764
      ],
      "bottle_quaternion_world": [
        0.6077143549919128,
        -0.2253369688987732,
        -0.003633814863860607,
        0.7615073323249817
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.65,
      "clearance_m": -0.0005273222923278809,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.464877188205719,
      "action": [
        0.5694429874420166,
        0.4398318827152252,
        -0.6294435858726501,
        0.8167521953582764,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2506120204925537,
        -0.2326103001832962,
        -3.868780186166987e-05,
        -1.802303671836853,
        -1.4399573802947998,
        2.5863709449768066,
        1.0060378313064575,
        1.0142196416854858,
        0.03559337183833122,
        0.07134631276130676,
        -0.42623090744018555,
        0.8942046165466309,
        -0.13684239983558655,
        0.7816240191459656,
        0.4401961863040924,
        0.44191810488700867
      ],
      "bottle_position_world": [
        -0.23353944718837738,
        0.12823770940303802,
        0.840340256690979
      ],
      "bottle_quaternion_world": [
        0.5999786257743835,
        -0.24221350252628326,
        4.804946729564108e-05,
        0.7624686360359192
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.700000000000001,
      "clearance_m": -0.0004993081092834473,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4668754041194916,
      "action": [
        0.5848984718322754,
        0.44293975830078125,
        -0.6497023701667786,
        0.8300110101699829,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2503628730773926,
        -0.23135091364383698,
        -5.018775482312776e-05,
        -1.8075003623962402,
        -1.438628077507019,
        2.5973992347717285,
        1.0062079429626465,
        1.0152711868286133,
        0.036102090030908585,
        0.07121986150741577,
        -0.4178091585636139,
        0.8987504243850708,
        -0.13297876715660095,
        0.7841075658798218,
        0.43063846230506897,
        0.44690731167793274
      ],
      "bottle_position_world": [
        -0.23494631052017212,
        0.1297018826007843,
        0.840093731880188
      ],
      "bottle_quaternion_world": [
        0.5927649736404419,
        -0.2591632306575775,
        0.0033833314664661884,
        0.7625305652618408
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.75,
      "clearance_m": -0.00015348196029663086,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.47021472454071045,
      "action": [
        0.6064223051071167,
        0.44755029678344727,
        -0.6702194809913635,
        0.8345105648040771,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2500576972961426,
        -0.2299254834651947,
        -4.9859940190799534e-05,
        -1.8128535747528076,
        -1.4372929334640503,
        2.6085429191589355,
        1.0061551332473755,
        1.0163426399230957,
        0.03666716441512108,
        0.07095570117235184,
        -0.409349262714386,
        0.9032185077667236,
        -0.12895654141902924,
        0.7865166068077087,
        0.42097216844558716,
        0.451856791973114
      ],
      "bottle_position_world": [
        -0.23762115836143494,
        0.1319015473127365,
        0.8397703766822815
      ],
      "bottle_quaternion_world": [
        0.5841074585914612,
        -0.2903011441230774,
        0.004696124233305454,
        0.7579720616340637
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.8,
      "clearance_m": -5.602836608886719e-05,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.477373331785202,
      "action": [
        0.6401699781417847,
        0.4561308026313782,
        -0.6944231390953064,
        0.8537840843200684,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2498176097869873,
        -0.22852465510368347,
        -4.6484998165396973e-05,
        -1.8184082508087158,
        -1.4358168840408325,
        2.6198298931121826,
        1.0065821409225464,
        1.0174537897109985,
        0.037202075123786926,
        0.07076476514339447,
        -0.40074506402015686,
        0.9076527953147888,
        -0.12478021532297134,
        0.7887684106826782,
        0.4110828936100006,
        0.45700716972351074
      ],
      "bottle_position_world": [
        -0.24302184581756592,
        0.1362859606742859,
        0.837719202041626
      ],
      "bottle_quaternion_world": [
        0.5703779458999634,
        -0.35544857382774353,
        0.006354026962071657,
        0.7404626607894897
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.850000000000001,
      "clearance_m": -7.62939453125e-06,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4906757175922394,
      "action": [
        0.7167565822601318,
        0.4888519048690796,
        -0.8204623460769653,
        0.8703728914260864,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.249666213989258,
        -0.22708402574062347,
        -4.8794223403092474e-05,
        -1.8239792585372925,
        -1.4341716766357422,
        2.6311697959899902,
        1.0070332288742065,
        1.018567442893982,
        0.03769442066550255,
        0.07054997235536575,
        -0.39209190011024475,
        0.9120204448699951,
        -0.12034442275762558,
        0.790934145450592,
        0.40102070569992065,
        0.462175190448761
      ],
      "bottle_position_world": [
        -0.25236448645591736,
        0.14385250210762024,
        0.8313262462615967
      ],
      "bottle_quaternion_world": [
        0.5377365350723267,
        -0.4720390737056732,
        0.009212528355419636,
        0.6985225081443787
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.9,
      "clearance_m": 3.4570693969726562e-06,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5121122598648071,
      "action": [
        0.8676505088806152,
        0.5536487698554993,
        -1.0,
        0.8626123666763306,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2495834827423096,
        -0.2258041352033615,
        -7.341348828049377e-05,
        -1.8293570280075073,
        -1.4326273202896118,
        2.642014741897583,
        1.0077000856399536,
        1.0196431875228882,
        0.03809332475066185,
        0.07046948373317719,
        -0.38373222947120667,
        0.9161152243614197,
        -0.11611515283584595,
        0.7928513288497925,
        0.3913149833679199,
        0.46718284487724304
      ],
      "bottle_position_world": [
        -0.2652476727962494,
        0.15427221357822418,
        0.8134923577308655
      ],
      "bottle_quaternion_world": [
        0.459032267332077,
        -0.6578788757324219,
        0.013704918324947357,
        0.5969061255455017
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0007377862348221242
    },
    {
      "t_s": 13.950000000000001,
      "clearance_m": -0.0011327266693115234,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5184226036071777,
      "action": [
        1.0,
        0.6509219408035278,
        -1.0,
        0.7655489444732666,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2491235733032227,
        -0.22447609901428223,
        -4.447376340976916e-05,
        -1.8351866006851196,
        -1.4317595958709717,
        2.653395175933838,
        1.006922960281372,
        1.0207737684249878,
        0.038680557161569595,
        0.0703851655125618,
        -0.3749762177467346,
        0.9202160239219666,
        -0.11222954094409943,
        0.7947068214416504,
        0.3814206123352051,
        0.47218596935272217
      ],
      "bottle_position_world": [
        -0.26831480860710144,
        0.15679942071437836,
        0.8060557842254639
      ],
      "bottle_quaternion_world": [
        0.4296019971370697,
        -0.7083174586296082,
        0.015600195154547691,
        0.5598974823951721
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.0,
      "clearance_m": -0.0002727508544921875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5180748105049133,
      "action": [
        1.0,
        0.6875385046005249,
        -1.0,
        0.7105890512466431,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2485315799713135,
        -0.22314271330833435,
        -4.80240341858007e-05,
        -1.8410483598709106,
        -1.4314782619476318,
        2.665081739425659,
        1.0067006349563599,
        1.0218963623046875,
        0.039240408688783646,
        0.07030565291643143,
        -0.3658454716205597,
        0.9243200421333313,
        -0.10858211666345596,
        0.7966118454933167,
        0.37133219838142395,
        0.4769930839538574
      ],
      "bottle_position_world": [
        -0.26821503043174744,
        0.15678705275058746,
        0.80682772397995
      ],
      "bottle_quaternion_world": [
        0.42985251545906067,
        -0.7065532207489014,
        0.016589798033237457,
        0.5619024038314819
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.05,
      "clearance_m": -0.00016242265701293945,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5180834531784058,
      "action": [
        1.0,
        0.6736628413200378,
        -1.0,
        0.7173501253128052,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2479357719421387,
        -0.2217675894498825,
        -4.860664557782002e-05,
        -1.8470494747161865,
        -1.4311673641204834,
        2.6769182682037354,
        1.0065724849700928,
        1.0230392217636108,
        0.03981150686740875,
        0.07021655142307281,
        -0.356600821018219,
        0.9283624291419983,
        -0.10478383302688599,
        0.7983956933021545,
        0.36106640100479126,
        0.4818672239780426
      ],
      "bottle_position_world": [
        -0.2681930661201477,
        0.1568446308374405,
        0.8068761229515076
      ],
      "bottle_quaternion_world": [
        0.42874619364738464,
        -0.7068703770637512,
        0.01772584207355976,
        0.5623139142990112
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.100000000000001,
      "clearance_m": -0.00013834238052368164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.518081545829773,
      "action": [
        1.0,
        0.6688069701194763,
        -1.0,
        0.722396969795227,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.247380256652832,
        -0.22048042714595795,
        -4.673879448091611e-05,
        -1.8528112173080444,
        -1.430861234664917,
        2.688216209411621,
        1.0065149068832397,
        1.024131417274475,
        0.040347013622522354,
        0.07016728818416595,
        -0.34776416420936584,
        0.9321176409721375,
        -0.10108160972595215,
        0.7999572157859802,
        0.3512176275253296,
        0.48653391003608704
      ],
      "bottle_position_world": [
        -0.2681575119495392,
        0.15688811242580414,
        0.8069031238555908
      ],
      "bottle_quaternion_world": [
        0.42789971828460693,
        -0.7068243622779846,
        0.018802450969815254,
        0.5629810690879822
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.15,
      "clearance_m": -0.0001468658447265625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5180955529212952,
      "action": [
        1.0,
        0.6670910120010376,
        -1.0,
        0.7182134389877319,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.246785879135132,
        -0.2191193848848343,
        -4.778244692715816e-05,
        -1.858697533607483,
        -1.430625557899475,
        2.6997530460357666,
        1.006413459777832,
        1.0252387523651123,
        0.04090211167931557,
        0.07007301598787308,
        -0.3387394845485687,
        0.9358411431312561,
        -0.09724744409322739,
        0.8014608025550842,
        0.3411422073841095,
        0.4912055730819702
      ],
      "bottle_position_world": [
        -0.26812562346458435,
        0.15693123638629913,
        0.8068912029266357
      ],
      "bottle_quaternion_world": [
        0.4270611107349396,
        -0.7068300247192383,
        0.019830012694001198,
        0.5635750889778137
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.200000000000001,
      "clearance_m": -0.00013428926467895508,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5180990099906921,
      "action": [
        1.0,
        0.6619009375572205,
        -1.0,
        0.7201189994812012,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.24617862701416,
        -0.21772241592407227,
        -4.646713932743296e-05,
        -1.86470627784729,
        -1.4304118156433105,
        2.7114641666412354,
        1.0063310861587524,
        1.0263618230819702,
        0.041463762521743774,
        0.06997033953666687,
        -0.32957369089126587,
        0.9395104050636292,
        -0.09328458458185196,
        0.8028626441955566,
        0.3308783769607544,
        0.49591508507728577
      ],
      "bottle_position_world": [
        -0.2680934965610504,
        0.1569707691669464,
        0.8069015145301819
      ],
      "bottle_quaternion_world": [
        0.4262900650501251,
        -0.7067879438400269,
        0.020806513726711273,
        0.5641761422157288
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.25,
      "clearance_m": -0.00017702579498291016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5181183815002441,
      "action": [
        1.0,
        0.656668484210968,
        -1.0,
        0.7225074768066406,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2455615997314453,
        -0.216288760304451,
        -4.840290785068646e-05,
        -1.8708285093307495,
        -1.430214762687683,
        2.723339557647705,
        1.0062791109085083,
        1.0274994373321533,
        0.04203065112233162,
        0.06986058503389359,
        -0.3202761113643646,
        0.9431166052818298,
        -0.08918776363134384,
        0.8041550517082214,
        0.32043153047561646,
        0.5006580352783203
      ],
      "bottle_position_world": [
        -0.2680622935295105,
        0.15700803697109222,
        0.8068645596504211
      ],
      "bottle_quaternion_world": [
        0.4255632758140564,
        -0.7067310214042664,
        0.021737294271588326,
        0.5647608041763306
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.3,
      "clearance_m": -0.00013941526412963867,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5181149244308472,
      "action": [
        1.0,
        0.6516140103340149,
        -1.0,
        0.7254014015197754,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.244978666305542,
        -0.2149503231048584,
        -4.386092405184172e-05,
        -1.876706600189209,
        -1.4300336837768555,
        2.7346744537353516,
        1.006239652633667,
        1.02858567237854,
        0.04256489872932434,
        0.06979329884052277,
        -0.31139567494392395,
        0.9464522004127502,
        -0.08521255850791931,
        0.8052460551261902,
        0.3104211091995239,
        0.5051907300949097
      ],
      "bottle_position_world": [
        -0.26803505420684814,
        0.15704528987407684,
        0.8068985939025879
      ],
      "bottle_quaternion_world": [
        0.4248373210430145,
        -0.7067344188690186,
        0.022622598335146904,
        0.5652680993080139
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.350000000000001,
      "clearance_m": -0.00013440847396850586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5181199312210083,
      "action": [
        0.9930733442306519,
        0.6500899791717529,
        -1.0,
        0.7214972972869873,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.244354724884033,
        -0.2135411947965622,
        -4.451544373296201e-05,
        -1.8826848268508911,
        -1.4299322366714478,
        2.7462470531463623,
        1.0061525106430054,
        1.0296814441680908,
        0.043119147419929504,
        0.06968043744564056,
        -0.3023315370082855,
        0.9497467875480652,
        -0.08110055327415466,
        0.8062801957130432,
        0.30018681287765503,
        0.5097063183784485
      ],
      "bottle_position_world": [
        -0.26800838112831116,
        0.15707965195178986,
        0.8069041967391968
      ],
      "bottle_quaternion_world": [
        0.4241679310798645,
        -0.7067127823829651,
        0.023455308750271797,
        0.5657637119293213
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.4,
      "clearance_m": -0.00013560056686401367,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.518125057220459,
      "action": [
        0.9759211540222168,
        0.6446662545204163,
        -1.0,
        0.7233263254165649,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2437145709991455,
        -0.21210439503192902,
        -4.6649514843011275e-05,
        -1.8887232542037964,
        -1.4298747777938843,
        2.7579939365386963,
        1.0060843229293823,
        1.0307810306549072,
        0.043678898364305496,
        0.06955569237470627,
        -0.29312899708747864,
        0.9529792666435242,
        -0.07685244083404541,
        0.8072329759597778,
        0.2897666394710541,
        0.5142086744308472
      ],
      "bottle_position_world": [
        -0.26798224449157715,
        0.15711098909378052,
        0.8069043755531311
      ],
      "bottle_quaternion_world": [
        0.42355653643608093,
        -0.7066625356674194,
        0.024235589429736137,
        0.5662513375282288
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.450000000000001,
      "clearance_m": -0.00013720989227294922,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5181311368942261,
      "action": [
        0.9591299295425415,
        0.6392199993133545,
        -1.0,
        0.7255703210830688,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.243060827255249,
        -0.2106456458568573,
        -4.6181641664588824e-05,
        -1.8948169946670532,
        -1.4298571348190308,
        2.769904136657715,
        1.0060487985610962,
        1.0318825244903564,
        0.04424265772104263,
        0.06942139565944672,
        -0.2837978005409241,
        0.956142246723175,
        -0.07246702909469604,
        0.8080981969833374,
        0.27916839718818665,
        0.5186933875083923
      ],
      "bottle_position_world": [
        -0.26795879006385803,
        0.1571410596370697,
        0.8069044351577759
      ],
      "bottle_quaternion_world": [
        0.4229704737663269,
        -0.7066386342048645,
        0.024965789169073105,
        0.5666874051094055
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.5,
      "clearance_m": -0.0001570582389831543,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.518147349357605,
      "action": [
        0.9421653747558594,
        0.6336671113967896,
        -1.0,
        0.7275761365890503,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.242439031600952,
        -0.20929370820522308,
        -4.0936312871053815e-05,
        -1.9006068706512451,
        -1.4298698902130127,
        2.7812702655792236,
        1.0060256719589233,
        1.0329229831695557,
        0.044772494584321976,
        0.06932838261127472,
        -0.2748876214027405,
        0.9590535163879395,
        -0.06821798533201218,
        0.8088083863258362,
        0.2690201997756958,
        0.5229318141937256
      ],
      "bottle_position_world": [
        -0.2679385244846344,
        0.1571704000234604,
        0.8068802952766418
      ],
      "bottle_quaternion_world": [
        0.4224002957344055,
        -0.7066539525985718,
        0.025648247450590134,
        0.5670629143714905
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.55,
      "clearance_m": -0.0001856088638305664,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5181595087051392,
      "action": [
        0.9280582666397095,
        0.6317731142044067,
        -1.0,
        0.7223697900772095,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.241773843765259,
        -0.20788069069385529,
        -4.346316563896835e-05,
        -1.90646231174469,
        -1.4299829006195068,
        2.792870283126831,
        1.0059648752212524,
        1.033966302871704,
        0.04532024264335632,
        0.06919242441654205,
        -0.265793114900589,
        0.9619140028953552,
        -0.06384167820215225,
        0.8094671368598938,
        0.25865447521209717,
        0.5271252989768982
      ],
      "bottle_position_world": [
        -0.267916202545166,
        0.15719498693943024,
        0.8068545460700989
      ],
      "bottle_quaternion_world": [
        0.4219207465648651,
        -0.7065781950950623,
        0.026282895356416702,
        0.5674850940704346
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.600000000000001,
      "clearance_m": -0.00015628337860107422,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.518153965473175,
      "action": [
        0.9107154607772827,
        0.6263061761856079,
        -1.0,
        0.7237776517868042,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2410919666290283,
        -0.2064475417137146,
        -4.242489012540318e-05,
        -1.912369728088379,
        -1.430145025253296,
        2.804641008377075,
        1.0059159994125366,
        1.0350114107131958,
        0.04587259888648987,
        0.06904684752225876,
        -0.2565641403198242,
        0.9647045135498047,
        -0.05933351442217827,
        0.8100419640541077,
        0.2481084167957306,
        0.5312953591346741
      ],
      "bottle_position_world": [
        -0.26789775490760803,
        0.15721973776817322,
        0.8068856000900269
      ],
      "bottle_quaternion_world": [
        0.4214394688606262,
        -0.706567645072937,
        0.02687397412955761,
        0.5678281784057617
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.65,
      "clearance_m": -0.0001614689826965332,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5181640982627869,
      "action": [
        0.8941326141357422,
        0.6207747459411621,
        -1.0,
        0.7264249324798584,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2403979301452637,
        -0.2049940973520279,
        -4.2021194531116635e-05,
        -1.9183204174041748,
        -1.4303444623947144,
        2.816570997238159,
        1.0058931112289429,
        1.0360567569732666,
        0.04642834514379501,
        0.06889297813177109,
        -0.24721266329288483,
        0.9674169421195984,
        -0.054686762392520905,
        0.8105259537696838,
        0.23738853633403778,
        0.5354387760162354
      ],
      "bottle_position_world": [
        -0.26788216829299927,
        0.1572435200214386,
        0.806876003742218
      ],
      "bottle_quaternion_world": [
        0.42097869515419006,
        -0.7065883278846741,
        0.027417942881584167,
        0.568118155002594
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.700000000000001,
      "clearance_m": -0.00018405914306640625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5181720852851868,
      "action": [
        0.8775080442428589,
        0.6152888536453247,
        -1.0,
        0.7289541959762573,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2397384643554688,
        -0.20364725589752197,
        -3.827893306151964e-05,
        -1.923964262008667,
        -1.4305579662322998,
        2.8279523849487305,
        1.005877137184143,
        1.037042498588562,
        0.04695212095975876,
        0.06877972930669785,
        -0.2382926195859909,
        0.9698960185050964,
        -0.050187237560749054,
        0.8108752965927124,
        0.22713139653205872,
        0.5393449068069458
      ],
      "bottle_position_world": [
        -0.2678642272949219,
        0.15726235508918762,
        0.8068585395812988
      ],
      "bottle_quaternion_world": [
        0.4206114411354065,
        -0.7065144777297974,
        0.027912767603993416,
        0.5684577226638794
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.75,
      "clearance_m": -0.00014483928680419922,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5181648135185242,
      "action": [
        0.8637279272079468,
        0.6133122444152832,
        -1.0,
        0.7243304252624512,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2390384674072266,
        -0.202244833111763,
        -3.852723602904007e-05,
        -1.92966628074646,
        -1.430869698524475,
        2.8395628929138184,
        1.0058213472366333,
        1.0380297899246216,
        0.047491155564785004,
        0.0686250850558281,
        -0.2291916459798813,
        0.972314715385437,
        -0.04556002467870712,
        0.8111682534217834,
        0.21665945649147034,
        0.5431990027427673
      ],
      "bottle_position_world": [
        -0.26785075664520264,
        0.15728174149990082,
        0.8068927526473999
      ],
      "bottle_quaternion_world": [
        0.42023569345474243,
        -0.706516683101654,
        0.0283658467233181,
        0.5687105059623718
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.8,
      "clearance_m": -0.0001366138458251953,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5181640982627869,
      "action": [
        0.8473163843154907,
        0.6077960729598999,
        -1.0,
        0.7266062498092651,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.238335371017456,
        -0.20084148645401,
        -5.2031529776286334e-05,
        -1.935410499572754,
        -1.4312331676483154,
        2.851335287094116,
        1.0058808326721191,
        1.0390199422836304,
        0.048020362854003906,
        0.068488709628582,
        -0.21995067596435547,
        0.9746569991111755,
        -0.04081779718399048,
        0.8113582134246826,
        0.2060088962316513,
        0.5470455288887024
      ],
      "bottle_position_world": [
        -0.2678377032279968,
        0.15729810297489166,
        0.8069034814834595
      ],
      "bottle_quaternion_world": [
        0.41991761326789856,
        -0.7064924836158752,
        0.028766494244337082,
        0.5689553022384644
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.850000000000001,
      "clearance_m": -0.00013822317123413086,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5181668400764465,
      "action": [
        0.8420617580413818,
        0.5965688228607178,
        -1.0,
        0.7240704298019409,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2375857830047607,
        -0.19938921928405762,
        -3.421472865738906e-05,
        -1.9412420988082886,
        -1.4316380023956299,
        2.863262176513672,
        1.005540132522583,
        1.040013074874878,
        0.048587121069431305,
        0.06830461323261261,
        -0.21062666177749634,
        0.9769058227539062,
        -0.03593910485506058,
        0.8114539980888367,
        0.1952192485332489,
        0.5508468151092529
      ],
      "bottle_position_world": [
        -0.2678265869617462,
        0.15731245279312134,
        0.8069040179252625
      ],
      "bottle_quaternion_world": [
        0.4196370542049408,
        -0.7064759135246277,
        0.029116470366716385,
        0.569165050983429
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.9,
      "clearance_m": -0.00013399124145507812,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5181715488433838,
      "action": [
        0.8097970485687256,
        0.5999488830566406,
        -1.0,
        0.7304388284683228,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.236903190612793,
        -0.19806839525699615,
        -3.682445822050795e-05,
        -1.9466861486434937,
        -1.4320751428604126,
        2.874647855758667,
        1.005555510520935,
        1.0409377813339233,
        0.04908342286944389,
        0.06818161904811859,
        -0.2016868144273758,
        0.978952169418335,
        -0.031229648739099503,
        0.8114662766456604,
        0.18486645817756653,
        0.5543889403343201
      ],
      "bottle_position_world": [
        -0.2678186893463135,
        0.1573261022567749,
        0.8069035410881042
      ],
      "bottle_quaternion_world": [
        0.4193728268146515,
        -0.7065027356147766,
        0.029417170211672783,
        0.5693110227584839
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 14.950000000000001,
      "clearance_m": -0.00013375282287597656,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5181728601455688,
      "action": [
        0.8021360635757446,
        0.5949162244796753,
        -1.0,
        0.7290182113647461,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.2361841201782227,
        -0.1966923475265503,
        -3.463117900537327e-05,
        -1.9522117376327515,
        -1.4325735569000244,
        2.886254072189331,
        1.0055184364318848,
        1.0418678522109985,
        0.049601178616285324,
        0.06801848113536835,
        -0.19258980453014374,
        0.9809250235557556,
        -0.02637418359518051,
        0.8113998174667358,
        0.17430628836154938,
        0.557896077632904
      ],
      "bottle_position_world": [
        -0.2678101062774658,
        0.15733584761619568,
        0.8069036602973938
      ],
      "bottle_quaternion_world": [
        0.41918447613716125,
        -0.7064729332923889,
        0.029664386063814163,
        0.569473922252655
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    },
    {
      "t_s": 15.0,
      "clearance_m": -0.0001386404037475586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.5181732177734375,
      "action": [
        0.7860742807388306,
        0.590092658996582,
        -1.0,
        0.7325365543365479,
        1.0,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.235454797744751,
        -0.1952986717224121,
        -3.376570384716615e-05,
        -1.957767367362976,
        -1.4331048727035522,
        2.8980231285095215,
        1.0054848194122314,
        1.0427970886230469,
        0.050122037529945374,
        0.06784681975841522,
        -0.18337352573871613,
        0.9828110933303833,
        -0.021377403289079666,
        0.8112432360649109,
        0.16357266902923584,
        0.5613634586334229
      ],
      "bottle_position_world": [
        -0.26780277490615845,
        0.15734317898750305,
        0.8069039583206177
      ],
      "bottle_quaternion_world": [
        0.41904422640800476,
        -0.7064335346221924,
        0.02986016310751438,
        0.5696156024932861
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.003409147262573242
    }
  ],
  "rate_denominator": false
}