{
  "checkpoint": "/home/sudhir/rl_training/results/teacher/runs/20260913T093744Z_frozen_normalization_grasp_ppo_teacher_seed42/checkpoints/model_100.pt",
  "checkpoint_sha256": "857eb1ed75f99652f4f8c0cb11f074a6b0b548d6f6e12238f23c608caf2dcaa5",
  "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",
  "push_config": null,
  "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": 0.0,
    "max_penetration": 0.0005189859075471759,
    "max_joint_speed": 0.6285792589187622,
    "max_force_ratio": 1.0,
    "nonfinite": 0.0,
    "elapsed_s": 15.000000953674316,
    "physics_overflow_bits": 0,
    "final_goal_error_m": 0.42600303888320923,
    "initial_layout_footprint_overlap": 0.0,
    "return_": 5.870816707611084,
    "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": false,
    "seed": 1101
  },
  "frames": [
    {
      "t_s": 0.05,
      "clearance_m": -0.00034922361373901367,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42602235078811646,
      "action": [
        1.0,
        0.23587819933891296,
        -0.529839813709259,
        0.6212499737739563,
        -0.19616135954856873,
        -1.0,
        0.9221119284629822
      ],
      "proprioception": [
        -3.3158929347991943,
        -1.1776986122131348,
        1.0221526622772217,
        -1.5389444828033447,
        -1.5698652267456055,
        -0.22556445002555847,
        0.965400755405426,
        0.6875221133232117,
        -0.00996939092874527,
        0.2759304642677307,
        0.04966910183429718,
        -0.9984093308448792,
        0.02669399604201317,
        -0.9913273453712463,
        -0.052537497133016586,
        -0.12046010792255402
      ],
      "bottle_position_world": [
        -0.20122455060482025,
        0.10018223524093628,
        0.837629497051239
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        7.084654498612508e-05,
        -1.4590996215702035e-05,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.1,
      "clearance_m": -0.0002556443214416504,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600125074386597,
      "action": [
        1.0,
        0.2763034999370575,
        -0.5143007040023804,
        0.6986496448516846,
        -0.1110743060708046,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3163342475891113,
        -1.1706242561340332,
        1.0163028240203857,
        -1.5399501323699951,
        -1.5640732049942017,
        -0.21525797247886658,
        0.9858000874519348,
        0.6905457377433777,
        -0.009158210828900337,
        0.2742723822593689,
        0.03970426693558693,
        -0.9990156888961792,
        0.019789492711424828,
        -0.9916800856590271,
        -0.04182438924908638,
        -0.12174436450004578
      ],
      "bottle_position_world": [
        -0.20122995972633362,
        0.10019265115261078,
        0.8377170562744141
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        -4.5138152927393094e-05,
        1.8123761037713848e-05,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.15000000000000002,
      "clearance_m": -0.0002497434616088867,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259996712207794,
      "action": [
        1.0,
        0.26116058230400085,
        -0.5418145656585693,
        0.5475426912307739,
        -0.047476328909397125,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3163254261016846,
        -1.1630038022994995,
        1.0098276138305664,
        -1.5404778718948364,
        -1.5594819784164429,
        -0.203630730509758,
        0.9924651980400085,
        0.6936064958572388,
        -0.008385119028389454,
        0.2724877893924713,
        0.02874097414314747,
        -0.9994920492172241,
        0.013785808347165585,
        -0.9920349717140198,
        -0.030213264748454094,
        -0.12228775024414062
      ],
      "bottle_position_world": [
        -0.20122796297073364,
        0.10019490122795105,
        0.8377224206924438
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        -4.792843174072914e-05,
        4.8975212848745286e-05,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.2,
      "clearance_m": -0.00025141239166259766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599472403526306,
      "action": [
        1.0,
        0.24948057532310486,
        -0.557889997959137,
        0.36725229024887085,
        -0.05158815532922745,
        -1.0,
        1.0
      ],
      "proprioception": [
        -3.3156206607818604,
        -1.1553661823272705,
        1.0036383867263794,
        -1.5416851043701172,
        -1.5566513538360596,
        -0.1906028687953949,
        0.9946557879447937,
        0.6967000365257263,
        -0.0076333279721438885,
        0.27060654759407043,
        0.01686319150030613,
        -0.9998140335083008,
        0.009387720376253128,
        -0.992276132106781,
        -0.017888683825731277,
        -0.12275430560112
      ],
      "bottle_position_world": [
        -0.20123448967933655,
        0.1001814603805542,
        0.8377208113670349
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        6.430056600947864e-06,
        -9.49601162574254e-05,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.25,
      "clearance_m": -0.00025844573974609375,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599576711654663,
      "action": [
        1.0,
        0.2949260175228119,
        -0.5844501256942749,
        0.23536774516105652,
        -0.08438874036073685,
        -0.5949826240539551,
        1.0
      ],
      "proprioception": [
        -3.3144032955169678,
        -1.1481878757476807,
        0.998487651348114,
        -1.544115424156189,
        -1.5545985698699951,
        -0.18145591020584106,
        0.9954522252082825,
        0.6997754573822021,
        -0.006736266426742077,
        0.26863932609558105,
        0.009249701164662838,
        -0.9999374151229858,
        0.006333605386316776,
        -0.9922828674316406,
        -0.009961772710084915,
        -0.1235954612493515
      ],
      "bottle_position_world": [
        -0.20122812688350677,
        0.10018490999937057,
        0.8377140164375305
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        2.5070636183954775e-05,
        -2.2976477339398116e-05,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.30000000000000004,
      "clearance_m": -0.00025522708892822266,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259941279888153,
      "action": [
        1.0,
        0.3882696330547333,
        -0.608772873878479,
        0.0975065603852272,
        -0.1296534240245819,
        -0.3455686569213867,
        1.0
      ],
      "proprioception": [
        -3.31242299079895,
        -1.1421269178390503,
        0.9947819113731384,
        -1.5477867126464844,
        -1.5538976192474365,
        -0.17508076131343842,
        0.9958337545394897,
        0.7026126980781555,
        -0.00563849089667201,
        0.2668346166610718,
        0.004982781130820513,
        -0.9999748468399048,
        0.005090954713523388,
        -0.9921362400054932,
        -0.005580326542258263,
        -0.1250401735305786
      ],
      "bottle_position_world": [
        -0.20121820271015167,
        0.10019315779209137,
        0.8377179503440857
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        3.305734571767971e-05,
        0.00010935316822724417,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.35000000000000003,
      "clearance_m": -0.00025093555450439453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259919226169586,
      "action": [
        1.0,
        0.4750983417034149,
        -0.6137052774429321,
        0.06124357134103775,
        -0.1426595151424408,
        -0.13220857083797455,
        1.0
      ],
      "proprioception": [
        -3.310039520263672,
        -1.136210560798645,
        0.9914484024047852,
        -1.5518354177474976,
        -1.553338646888733,
        -0.17094950377941132,
        0.9960566163063049,
        0.7054318189620972,
        -0.0042824638076126575,
        0.26497185230255127,
        0.0033302116207778454,
        -0.9999855756759644,
        0.004278368316590786,
        -0.9919483065605164,
        -0.0038450590800493956,
        -0.1265871822834015
      ],
      "bottle_position_world": [
        -0.2012200951576233,
        0.10019029676914215,
        0.837721586227417
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        4.1806426452239975e-05,
        7.688658661209047e-05,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.4,
      "clearance_m": -0.0002537965774536133,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259888529777527,
      "action": [
        1.0,
        0.5088484287261963,
        -0.6279094219207764,
        0.04350290447473526,
        -0.14683237671852112,
        -0.0856013149023056,
        1.0
      ],
      "proprioception": [
        -3.307464838027954,
        -1.1303517818450928,
        0.9882988929748535,
        -1.5561230182647705,
        -1.5529316663742065,
        -0.1672605723142624,
        0.9962049126625061,
        0.708247721195221,
        -0.002820352092385292,
        0.26307106018066406,
        0.0022909718099981546,
        -0.9999908208847046,
        0.0036774100735783577,
        -0.9917432069778442,
        -0.0027435864321887493,
        -0.12821239233016968
      ],
      "bottle_position_world": [
        -0.201232448220253,
        0.1001739576458931,
        0.8377189040184021
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        7.65014483476989e-05,
        -0.00013170608144719154,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.45,
      "clearance_m": -0.0002576112747192383,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598778009414673,
      "action": [
        1.0,
        0.5179638862609863,
        -0.6342265605926514,
        0.035686589777469635,
        -0.14119115471839905,
        -0.04883013665676117,
        1.0
      ],
      "proprioception": [
        -3.3048205375671387,
        -1.1243523359298706,
        0.9850122332572937,
        -1.560356616973877,
        -1.5525823831558228,
        -0.163974791765213,
        0.9963020086288452,
        0.7110872864723206,
        -0.0013150934828445315,
        0.2611224949359894,
        0.00171625183429569,
        -0.9999937415122986,
        0.003163803368806839,
        -0.9915422797203064,
        -0.0021123301703482866,
        -0.12976796925067902
      ],
      "bottle_position_world": [
        -0.20122908055782318,
        0.10017344355583191,
        0.837715208530426
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        0.00010401376493973657,
        -0.00011061717668781057,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.5,
      "clearance_m": -0.0002586245536804199,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259960651397705,
      "action": [
        1.0,
        0.514214277267456,
        -0.6379009485244751,
        0.024302460253238678,
        -0.1330365240573883,
        -0.031071648001670837,
        1.0
      ],
      "proprioception": [
        -3.302290916442871,
        -1.1186084747314453,
        0.9816491603851318,
        -1.5642452239990234,
        -1.552386999130249,
        -0.16105343401432037,
        0.9963669776916504,
        0.7137900590896606,
        0.00010124850086867809,
        0.2593342959880829,
        0.0013703049626201391,
        -0.9999952912330627,
        0.0028371084481477737,
        -0.99134361743927,
        -0.0017309393733739853,
        -0.1312829703092575
      ],
      "bottle_position_world": [
        -0.20122161507606506,
        0.1001909002661705,
        0.837713897228241
      ],
      "bottle_quaternion_world": [
        0.7284784317016602,
        2.6493584300624207e-05,
        6.791673513362184e-05,
        0.6850688457489014
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.55,
      "clearance_m": -0.0002586841583251953,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599382996559143,
      "action": [
        1.0,
        0.5116630792617798,
        -0.6361629962921143,
        0.03186473995447159,
        -0.11679274588823318,
        -0.006730303168296814,
        1.0
      ],
      "proprioception": [
        -3.2997660636901855,
        -1.112479329109192,
        0.9778338074684143,
        -1.5677742958068848,
        -1.5520886182785034,
        -0.158429816365242,
        0.996398389339447,
        0.716550886631012,
        0.0015473186504095793,
        0.25744983553886414,
        0.0013299924321472645,
        -0.9999963641166687,
        0.0023933984339237213,
        -0.9911782741546631,
        -0.0016354711260646582,
        -0.1325257420539856
      ],
      "bottle_position_world": [
        -0.2012280970811844,
        0.1001821905374527,
        0.8377139568328857
      ],
      "bottle_quaternion_world": [
        0.7284787893295288,
        4.527559212874621e-05,
        -4.195230212644674e-05,
        0.6850684285163879
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.6000000000000001,
      "clearance_m": -0.000260770320892334,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598995566368103,
      "action": [
        1.0,
        0.4979780614376068,
        -0.6394485235214233,
        0.020416714251041412,
        -0.10608319193124771,
        -0.012147292494773865,
        1.0
      ],
      "proprioception": [
        -3.2971980571746826,
        -1.1060837507247925,
        0.9736791253089905,
        -1.5711265802383423,
        -1.5519598722457886,
        -0.15572179853916168,
        0.9964163899421692,
        0.719361424446106,
        0.002982015023007989,
        0.2555142939090729,
        0.0012285031843930483,
        -0.9999972581863403,
        0.00208213459700346,
        -0.9910290241241455,
        -0.0014957645907998085,
        -0.1336396187543869
      ],
      "bottle_position_world": [
        -0.20121929049491882,
        0.1001831516623497,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7284791469573975,
        0.00010049852426163852,
        3.070482853217982e-05,
        0.6850680112838745
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.65,
      "clearance_m": -0.000260770320892334,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599940299987793,
      "action": [
        1.0,
        0.4861259162425995,
        -0.6399402022361755,
        0.008236803114414215,
        -0.09724272042512894,
        0.006209149956703186,
        1.0
      ],
      "proprioception": [
        -3.2945945262908936,
        -1.0994255542755127,
        0.9691887497901917,
        -1.5743012428283691,
        -1.5519746541976929,
        -0.15323102474212646,
        0.996423602104187,
        0.7222206592559814,
        0.004408351145684719,
        0.253526508808136,
        0.0013599172234535217,
        -0.999997615814209,
        0.001918368972837925,
        -0.9908952116966248,
        -0.0016058350447565317,
        -0.13462792336940765
      ],
      "bottle_position_world": [
        -0.20123685896396637,
        0.10018143057823181,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.728480339050293,
        -1.0955476682283916e-05,
        -0.0001125482376664877,
        0.6850667595863342
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.7000000000000001,
      "clearance_m": -0.0002613067626953125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599350214004517,
      "action": [
        1.0,
        0.47431060671806335,
        -0.6413427591323853,
        0.0012296810746192932,
        -0.08954606205224991,
        0.01438082754611969,
        1.0
      ],
      "proprioception": [
        -3.2921454906463623,
        -1.0930335521697998,
        0.9646276831626892,
        -1.577151894569397,
        -1.5520790815353394,
        -0.15098851919174194,
        0.9964298009872437,
        0.7249512672424316,
        0.005731214769184589,
        0.25170639157295227,
        0.001571171684190631,
        -0.9999970197677612,
        0.0018735174089670181,
        -0.9907600283622742,
        -0.001810760237276554,
        -0.13561521470546722
      ],
      "bottle_position_world": [
        -0.201216921210289,
        0.1001901775598526,
        0.8377116918563843
      ],
      "bottle_quaternion_world": [
        0.7284812331199646,
        6.445906183216721e-05,
        9.787670569494367e-05,
        0.6850658059120178
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.75,
      "clearance_m": -0.00025838613510131836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600205540657043,
      "action": [
        1.0,
        0.46521732211112976,
        -0.6381328105926514,
        0.016179241240024567,
        -0.07524935156106949,
        0.016078725457191467,
        1.0
      ],
      "proprioception": [
        -3.289750337600708,
        -1.0862358808517456,
        0.9595805406570435,
        -1.579626441001892,
        -1.5520182847976685,
        -0.14881281554698944,
        0.996423065662384,
        0.7277469635009766,
        0.007065180689096451,
        0.24978384375572205,
        0.001817717682570219,
        -0.9999971389770508,
        0.0016270065680146217,
        -0.990660548210144,
        -0.0020225895568728447,
        -0.13633698225021362
      ],
      "bottle_position_world": [
        -0.20123806595802307,
        0.10018549114465714,
        0.8377143740653992
      ],
      "bottle_quaternion_world": [
        0.7284817099571228,
        -4.938588972436264e-05,
        -9.261690865969285e-05,
        0.6850653290748596
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.8,
      "clearance_m": -0.00025463104248046875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259975254535675,
      "action": [
        1.0,
        0.4493478238582611,
        -0.6403933763504028,
        0.01262221485376358,
        -0.06604758650064468,
        -0.0009857863187789917,
        1.0
      ],
      "proprioception": [
        -3.2873589992523193,
        -1.0791666507720947,
        0.9541686177253723,
        -1.5819001197814941,
        -1.5520408153533936,
        -0.1464402675628662,
        0.9964176416397095,
        0.7305948734283447,
        0.008378087542951107,
        0.24781125783920288,
        0.0018546825740486383,
        -0.9999974370002747,
        0.0014164047315716743,
        -0.9905772805213928,
        -0.0020311917178332806,
        -0.13694104552268982
      ],
      "bottle_position_world": [
        -0.20123018324375153,
        0.10018768161535263,
        0.8377180099487305
      ],
      "bottle_quaternion_world": [
        0.7284818291664124,
        -9.993339517677668e-06,
        -1.8146052752854303e-05,
        0.6850652098655701
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.8500000000000001,
      "clearance_m": -0.00025385618209838867,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259943962097168,
      "action": [
        1.0,
        0.43592569231987,
        -0.6401188969612122,
        0.006591416895389557,
        -0.05827925354242325,
        0.004488065838813782,
        1.0
      ],
      "proprioception": [
        -3.284966468811035,
        -1.0718262195587158,
        0.948392391204834,
        -1.5839699506759644,
        -1.5521432161331177,
        -0.14414604008197784,
        0.9964106678962708,
        0.7334931492805481,
        0.009675604291260242,
        0.2457856982946396,
        0.0019602905958890915,
        -0.9999974966049194,
        0.001275806687772274,
        -0.9905102252960205,
        -0.0021170410327613354,
        -0.1374250203371048
      ],
      "bottle_position_world": [
        -0.20122089982032776,
        0.10019155591726303,
        0.8377186059951782
      ],
      "bottle_quaternion_world": [
        0.7284818291664124,
        2.5750749045982957e-05,
        7.80038462835364e-05,
        0.6850652098655701
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.9,
      "clearance_m": -0.0002586245536804199,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260038137435913,
      "action": [
        1.0,
        0.42303213477134705,
        -0.6410787105560303,
        0.003321625292301178,
        -0.051550187170505524,
        0.006345286965370178,
        1.0
      ],
      "proprioception": [
        -3.2827367782592773,
        -1.064792275428772,
        0.9425964951515198,
        -1.5857634544372559,
        -1.5522898435592651,
        -0.14202891290187836,
        0.9964094161987305,
        0.7362624406814575,
        0.010872742161154747,
        0.2439367175102234,
        0.002072469796985388,
        -0.9999972581863403,
        0.001207711175084114,
        -0.9904366731643677,
        -0.0022192765027284622,
        -0.13795143365859985
      ],
      "bottle_position_world": [
        -0.20123499631881714,
        0.1001904085278511,
        0.8377139568328857
      ],
      "bottle_quaternion_world": [
        0.7284817099571228,
        -6.423945887945592e-05,
        -3.5575601941673085e-05,
        0.6850653290748596
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 0.9500000000000001,
      "clearance_m": -0.000258028507232666,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260028898715973,
      "action": [
        1.0,
        0.4116872251033783,
        -0.635791003704071,
        0.02026055008172989,
        -0.038084276020526886,
        0.0008679181337356567,
        1.0
      ],
      "proprioception": [
        -3.28057861328125,
        -1.057328701019287,
        0.936259925365448,
        -1.5871453285217285,
        -1.5522516965866089,
        -0.13990022242069244,
        0.9963966012001038,
        0.7391006946563721,
        0.012071849778294563,
        0.24198375642299652,
        0.002127088373526931,
        -0.9999976754188538,
        0.0009125741198658943,
        -0.9904009103775024,
        -0.0022328319028019905,
        -0.13820874691009521
      ],
      "bottle_position_world": [
        -0.20123471319675446,
        0.10018975287675858,
        0.8377147316932678
      ],
      "bottle_quaternion_world": [
        0.7284809947013855,
        -5.722990317735821e-05,
        -3.776217272388749e-05,
        0.6850660443305969
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.0,
      "clearance_m": -0.000253140926361084,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599382996559143,
      "action": [
        1.0,
        0.3962373435497284,
        -0.6367512941360474,
        0.01691616326570511,
        -0.029743172228336334,
        -0.015853509306907654,
        1.0
      ],
      "proprioception": [
        -3.2784314155578613,
        -1.0495829582214355,
        0.9295215010643005,
        -1.5883007049560547,
        -1.552289605140686,
        -0.13757850229740143,
        0.9963884353637695,
        0.7419920563697815,
        0.013246236369013786,
        0.23998285830020905,
        0.0019696075469255447,
        -0.9999980330467224,
        0.0006494754925370216,
        -0.9903813600540161,
        -0.0020405398681759834,
        -0.1383506953716278
      ],
      "bottle_position_world": [
        -0.20123077929019928,
        0.10018252581357956,
        0.8377191424369812
      ],
      "bottle_quaternion_world": [
        0.7284809350967407,
        2.462724660290405e-05,
        -5.9051559219369665e-05,
        0.6850661039352417
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.05,
      "clearance_m": -0.00025910139083862305,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599156498908997,
      "action": [
        1.0,
        0.38339492678642273,
        -0.635479211807251,
        0.011455871164798737,
        -0.022652454674243927,
        -0.010350450873374939,
        1.0
      ],
      "proprioception": [
        -3.276287317276001,
        -1.0415551662445068,
        0.9223809242248535,
        -1.5892250537872314,
        -1.5523955821990967,
        -0.13533693552017212,
        0.9963796734809875,
        0.7449340224266052,
        0.014404231682419777,
        0.23793111741542816,
        0.0018790103495121002,
        -0.9999983310699463,
        0.00044828373938798904,
        -0.9903783202171326,
        -0.001922990777529776,
        -0.13837392628192902
      ],
      "bottle_position_world": [
        -0.20122191309928894,
        0.10018400102853775,
        0.837713360786438
      ],
      "bottle_quaternion_world": [
        0.7284802794456482,
        7.605212886119261e-05,
        1.7584237866685726e-05,
        0.685066819190979
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.1,
      "clearance_m": -0.0002587437629699707,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259994328022003,
      "action": [
        1.0,
        0.37079498171806335,
        -0.6360650658607483,
        0.008288808166980743,
        -0.01656312495470047,
        -0.007726415991783142,
        1.0
      ],
      "proprioception": [
        -3.2742934226989746,
        -1.0338715314865112,
        0.9152684807777405,
        -1.589919924736023,
        -1.5525386333465576,
        -0.13327984511852264,
        0.996380090713501,
        0.7477449774742126,
        0.015469823963940144,
        0.2360645830631256,
        0.0018160450272262096,
        -0.9999985098838806,
        0.0003205370157957077,
        -0.990364134311676,
        -0.0018429651390761137,
        -0.1384771764278412
      ],
      "bottle_position_world": [
        -0.2012270987033844,
        0.10019097477197647,
        0.837713897228241
      ],
      "bottle_quaternion_world": [
        0.7284799218177795,
        -1.312535550823668e-05,
        2.7410644179326482e-05,
        0.6850671768188477
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.1500000000000001,
      "clearance_m": -0.00025665760040283203,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260045886039734,
      "action": [
        1.0,
        0.35787293314933777,
        -0.6286380290985107,
        0.0246187224984169,
        -0.003395356237888336,
        -0.018023177981376648,
        1.0
      ],
      "proprioception": [
        -3.2723753452301025,
        -1.0257258415222168,
        0.9075435996055603,
        -1.590156078338623,
        -1.5525089502334595,
        -0.13115271925926208,
        0.9963656663894653,
        0.7506281733512878,
        0.016529114916920662,
        0.2340938001871109,
        0.0016316564287990332,
        -0.9999988675117493,
        -2.7406960725784302e-05,
        -0.9903892278671265,
        -0.0016122051747515798,
        -0.13830018043518066
      ],
      "bottle_position_world": [
        -0.20123760402202606,
        0.10019022971391678,
        0.8377158641815186
      ],
      "bottle_quaternion_world": [
        0.7284799218177795,
        -8.094578515738249e-05,
        -5.6632343330420554e-05,
        0.6850671768188477
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.2000000000000002,
      "clearance_m": -0.00026029348373413086,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600131034851074,
      "action": [
        1.0,
        0.3430832326412201,
        -0.6274992823600769,
        0.01993802934885025,
        0.004678212106227875,
        -0.03088878095149994,
        1.0
      ],
      "proprioception": [
        -3.2704660892486572,
        -1.0172746181488037,
        0.8993481397628784,
        -1.5901187658309937,
        -1.552563190460205,
        -0.12887507677078247,
        0.9963568449020386,
        0.7535660862922668,
        0.017562011256814003,
        0.23207972943782806,
        0.0012776203220710158,
        -0.9999992847442627,
        -0.0003273477777838707,
        -0.9904309511184692,
        -0.0012202439829707146,
        -0.13800489902496338
      ],
      "bottle_position_world": [
        -0.2012230008840561,
        0.10019636899232864,
        0.8377124667167664
      ],
      "bottle_quaternion_world": [
        0.7284792065620422,
        -2.419511838525068e-05,
        9.662219963502139e-05,
        0.6850679516792297
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.25,
      "clearance_m": -0.0002606511116027832,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259926974773407,
      "action": [
        1.0,
        0.3303419053554535,
        -0.6251140236854553,
        0.014459826052188873,
        0.011362604796886444,
        -0.025200173258781433,
        1.0
      ],
      "proprioception": [
        -3.268563985824585,
        -1.0085206031799316,
        0.8906936049461365,
        -1.589811086654663,
        -1.5526823997497559,
        -0.12668101489543915,
        0.9963475465774536,
        0.7565557360649109,
        0.018575439229607582,
        0.2300170361995697,
        0.0009900706354528666,
        -0.9999995827674866,
        -0.0005648117512464523,
        -0.9904892444610596,
        -0.0009029721841216087,
        -0.13758908212184906
      ],
      "bottle_position_world": [
        -0.20123183727264404,
        0.10017640888690948,
        0.8377120494842529
      ],
      "bottle_quaternion_world": [
        0.7284780144691467,
        6.392123032128438e-05,
        -0.00010942734661512077,
        0.6850692629814148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.3,
      "clearance_m": -0.0002588629722595215,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260060787200928,
      "action": [
        1.0,
        0.31803032755851746,
        -0.6249198317527771,
        0.010615088045597076,
        0.01689925044775009,
        -0.02184121310710907,
        1.0
      ],
      "proprioception": [
        -3.2667956352233887,
        -1.0001429319381714,
        0.8821086287498474,
        -1.5893192291259766,
        -1.5528417825698853,
        -0.12467537820339203,
        0.996350884437561,
        0.7594127655029297,
        0.019504310563206673,
        0.22814874351024628,
        0.0007497870828956366,
        -0.9999995231628418,
        -0.0007197149097919464,
        -0.9905310273170471,
        -0.0006439057178795338,
        -0.13728834688663483
      ],
      "bottle_position_world": [
        -0.20123536884784698,
        0.10019316524267197,
        0.8377137780189514
      ],
      "bottle_quaternion_world": [
        0.7284771203994751,
        -8.61138614709489e-05,
        -1.78540576598607e-05,
        0.6850702166557312
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.35,
      "clearance_m": -0.00025856494903564453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600739002227783,
      "action": [
        1.0,
        0.30347225069999695,
        -0.6149522066116333,
        0.0263640359044075,
        0.030076242983341217,
        -0.03565274178981781,
        1.0
      ],
      "proprioception": [
        -3.265109062194824,
        -0.9912580251693726,
        0.8728089928627014,
        -1.5883008241653442,
        -1.5528391599655151,
        -0.12255869060754776,
        0.9963349103927612,
        0.7623456120491028,
        0.02041758969426155,
        0.2261769026517868,
        0.00033962621819227934,
        -0.999999463558197,
        -0.0010875575244426727,
        -0.990613579750061,
        -0.0001877988688647747,
        -0.13669337332248688
      ],
      "bottle_position_world": [
        -0.20123979449272156,
        0.10019152611494064,
        0.8377143740653992
      ],
      "bottle_quaternion_world": [
        0.7284759879112244,
        -0.0001048551348503679,
        -6.199990457389504e-05,
        0.6850714683532715
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.4000000000000001,
      "clearance_m": -0.00025278329849243164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599356174468994,
      "action": [
        1.0,
        0.28883644938468933,
        -0.6108353137969971,
        0.021031923592090607,
        0.03812316805124283,
        -0.04561994969844818,
        1.0
      ],
      "proprioception": [
        -3.2634317874908447,
        -0.9820292592048645,
        0.8629366755485535,
        -1.586938738822937,
        -1.552922248840332,
        -0.12032514065504074,
        0.9963257908821106,
        0.7653365135192871,
        0.021302329376339912,
        0.22416952252388,
        -0.0002078740217257291,
        -0.9999990463256836,
        -0.0013984208926558495,
        -0.9907124042510986,
        0.00039607344660907984,
        -0.1359742432832718
      ],
      "bottle_position_world": [
        -0.20122107863426208,
        0.1001911461353302,
        0.8377203941345215
      ],
      "bottle_quaternion_world": [
        0.7284759879112244,
        2.9396876925602555e-05,
        7.541715604020283e-05,
        0.6850714683532715
      ],
      "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": 0.425993949174881,
      "action": [
        1.0,
        0.2760988175868988,
        -0.6072741150856018,
        0.015484698116779327,
        0.04448496550321579,
        -0.040099725127220154,
        1.0
      ],
      "proprioception": [
        -3.261766195297241,
        -0.9724670052528381,
        0.8525274395942688,
        -1.58525550365448,
        -1.5530699491500854,
        -0.11817368865013123,
        0.9963160753250122,
        0.7683802247047424,
        0.022163227200508118,
        0.2221154421567917,
        -0.0006951310206204653,
        -0.9999986886978149,
        -0.0016452446579933167,
        -0.9908276200294495,
        0.0009110578102990985,
        -0.13513104617595673
      ],
      "bottle_position_world": [
        -0.20123152434825897,
        0.10018520057201385,
        0.8377252817153931
      ],
      "bottle_quaternion_world": [
        0.7284759879112244,
        4.290213269086962e-07,
        -4.440233169589192e-05,
        0.6850714683532715
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.5,
      "clearance_m": -0.0002453923225402832,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599210143089294,
      "action": [
        1.0,
        0.2642305791378021,
        -0.6057217121124268,
        0.011174477636814117,
        0.0494803711771965,
        -0.03588251769542694,
        1.0
      ],
      "proprioception": [
        -3.26021671295166,
        -0.9633071422576904,
        0.8422189950942993,
        -1.5834274291992188,
        -1.5532574653625488,
        -0.11621591448783875,
        0.9963222146034241,
        0.771290123462677,
        0.022949783131480217,
        0.22026526927947998,
        -0.0011118126567453146,
        -0.9999978542327881,
        -0.0018048975616693497,
        -0.9909213185310364,
        0.0013443371281027794,
        -0.13443723320960999
      ],
      "bottle_position_world": [
        -0.2012273669242859,
        0.10018760710954666,
        0.8377280235290527
      ],
      "bottle_quaternion_world": [
        0.7284759879112244,
        1.1500626897031907e-05,
        3.61249203706393e-06,
        0.6850714683532715
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.55,
      "clearance_m": -0.00022530555725097656,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259837865829468,
      "action": [
        1.0,
        0.2480315864086151,
        -0.5935657024383545,
        0.027552194893360138,
        0.06242621690034866,
        -0.0497124046087265,
        1.0
      ],
      "proprioception": [
        -3.2587640285491943,
        -0.9535889625549316,
        0.8310774564743042,
        -1.5809950828552246,
        -1.5532724857330322,
        -0.11415596306324005,
        0.9963056445121765,
        0.7742788791656494,
        0.023710211738944054,
        0.21831311285495758,
        -0.0017045786371454597,
        -0.9999963641166687,
        -0.0021834596991539,
        -0.9910553097724915,
        0.0019806823693215847,
        -0.1334386169910431
      ],
      "bottle_position_world": [
        -0.20122744143009186,
        0.10018562525510788,
        0.8377472758293152
      ],
      "bottle_quaternion_world": [
        0.7284759879112244,
        2.6486859496799298e-05,
        -1.086674728867365e-05,
        0.6850714683532715
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.6,
      "clearance_m": -0.0002167224884033203,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598533630371094,
      "action": [
        1.0,
        0.23370036482810974,
        -0.5883719325065613,
        0.022117771208286285,
        0.06990306824445724,
        -0.05522601306438446,
        1.0
      ],
      "proprioception": [
        -3.2573275566101074,
        -0.9434913992881775,
        0.8192728757858276,
        -1.5781633853912354,
        -1.5533641576766968,
        -0.11203685402870178,
        0.9962961077690125,
        0.7773263454437256,
        0.024438150227069855,
        0.21632874011993408,
        -0.002383060287684202,
        -0.9999943375587463,
        -0.002502960152924061,
        -0.9912042021751404,
        0.0026932712644338608,
        -0.13231565058231354
      ],
      "bottle_position_world": [
        -0.20123180747032166,
        0.1001879945397377,
        0.8377549052238464
      ],
      "bottle_quaternion_world": [
        0.7284759879112244,
        -2.2437088773585856e-05,
        -2.6990912374458276e-05,
        0.6850714683532715
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.6500000000000001,
      "clearance_m": -0.0002518296241760254,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599043250083923,
      "action": [
        1.0,
        0.22159096598625183,
        -0.5848443508148193,
        0.016036279499530792,
        0.07558856159448624,
        -0.048585399985313416,
        1.0
      ],
      "proprioception": [
        -3.25590443611145,
        -0.9330289959907532,
        0.8068548440933228,
        -1.5749671459197998,
        -1.5535237789154053,
        -0.11001354455947876,
        0.9962865710258484,
        0.7804262042045593,
        0.02513927035033703,
        0.2142985314130783,
        -0.002989888424053788,
        -0.999991774559021,
        -0.0027513783425092697,
        -0.991367518901825,
        0.0033247172832489014,
        -0.13107071816921234
      ],
      "bottle_position_world": [
        -0.20122572779655457,
        0.1001826599240303,
        0.8377202153205872
      ],
      "bottle_quaternion_world": [
        0.7284759879112244,
        6.0003909311490133e-05,
        -1.85827084351331e-05,
        0.6850714683532715
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.7000000000000002,
      "clearance_m": -0.0002598762512207031,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260043799877167,
      "action": [
        1.0,
        0.2103498876094818,
        -0.5828379392623901,
        0.011455364525318146,
        0.07998677343130112,
        -0.041544243693351746,
        1.0
      ],
      "proprioception": [
        -3.2545809745788574,
        -0.9229937195777893,
        0.7945709824562073,
        -1.5716679096221924,
        -1.553719162940979,
        -0.10820956528186798,
        0.9962959289550781,
        0.7833896279335022,
        0.025776894763112068,
        0.21247923374176025,
        -0.003483152948319912,
        -0.999989926815033,
        -0.002910046838223934,
        -0.9915056824684143,
        0.0038319227751344442,
        -0.13000917434692383
      ],
      "bottle_position_world": [
        -0.20122511684894562,
        0.10019903630018234,
        0.837712824344635
      ],
      "bottle_quaternion_world": [
        0.7284753918647766,
        -5.835168849444017e-05,
        0.00010088370618177578,
        0.6850720643997192
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.75,
      "clearance_m": -0.00026029348373413086,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259868562221527,
      "action": [
        1.0,
        0.19222018122673035,
        -0.5724039077758789,
        0.029900498688220978,
        0.09154773503541946,
        -0.05116705596446991,
        1.0
      ],
      "proprioception": [
        -3.2533822059631348,
        -0.912391722202301,
        0.7812587022781372,
        -1.567737340927124,
        -1.5537043809890747,
        -0.10637637227773666,
        0.996192991733551,
        0.7864556908607483,
        0.026372475549578667,
        0.21063706278800964,
        -0.004104090854525566,
        -0.9999862313270569,
        -0.00329416710883379,
        -0.9916601777076721,
        0.004494203254580498,
        -0.1288021057844162
      ],
      "bottle_position_world": [
        -0.2012202888727188,
        0.10017824172973633,
        0.8377124667167664
      ],
      "bottle_quaternion_world": [
        0.7284746170043945,
        0.0001310496882069856,
        -9.389465049025603e-06,
        0.6850728392601013
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.8,
      "clearance_m": -0.00025898218154907227,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600318789482117,
      "action": [
        1.0,
        0.1806240975856781,
        -0.5710771083831787,
        0.021412767469882965,
        0.09807684272527695,
        -0.05269710719585419,
        1.0
      ],
      "proprioception": [
        -3.2521867752075195,
        -0.9013804197311401,
        0.7672634720802307,
        -1.563393473625183,
        -1.553796410560608,
        -0.10452298074960709,
        0.9961424469947815,
        0.7895705699920654,
        0.026937168091535568,
        0.20873688161373138,
        -0.004763180390000343,
        -0.999982476234436,
        -0.0035857288166880608,
        -0.9918323755264282,
        0.005181333981454372,
        -0.12744496762752533
      ],
      "bottle_position_world": [
        -0.20123742520809174,
        0.10018730908632278,
        0.8377137184143066
      ],
      "bottle_quaternion_world": [
        0.7284744381904602,
        -5.7145749451592565e-05,
        -7.463101792382076e-05,
        0.6850730180740356
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.85,
      "clearance_m": -0.00026029348373413086,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600584030151367,
      "action": [
        1.0,
        0.17020151019096375,
        -0.5676185488700867,
        0.01438719779253006,
        0.1025395467877388,
        -0.042987510561943054,
        1.0
      ],
      "proprioception": [
        -3.2509965896606445,
        -0.8899670243263245,
        0.7525712847709656,
        -1.55864417552948,
        -1.5539628267288208,
        -0.10280000418424606,
        0.9961156249046326,
        0.7927345633506775,
        0.027478884905576706,
        0.20678886771202087,
        -0.005308419931679964,
        -0.9999790191650391,
        -0.0037939492613077164,
        -0.9920176267623901,
        0.005744078196585178,
        -0.12597079575061798
      ],
      "bottle_position_world": [
        -0.20123599469661713,
        0.10019158571958542,
        0.8377124071121216
      ],
      "bottle_quaternion_world": [
        0.7284731864929199,
        -7.980465306900442e-05,
        -3.411911166040227e-05,
        0.6850743889808655
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.9000000000000001,
      "clearance_m": -0.0002593398094177246,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599886655807495,
      "action": [
        1.0,
        0.1598573625087738,
        -0.5648177862167358,
        0.009082935750484467,
        0.10576502233743668,
        -0.03542827069759369,
        1.0
      ],
      "proprioception": [
        -3.249886989593506,
        -0.8789994120597839,
        0.7380254864692688,
        -1.5538345575332642,
        -1.5541715621948242,
        -0.10128255933523178,
        0.9961150288581848,
        0.7957624793052673,
        0.0279670562595129,
        0.2050655037164688,
        -0.005735026206821203,
        -0.9999759793281555,
        -0.0039050644263625145,
        -0.9921717047691345,
        0.006177325267344713,
        -0.12472866475582123
      ],
      "bottle_position_world": [
        -0.20123548805713654,
        0.10018265247344971,
        0.837713360786438
      ],
      "bottle_quaternion_world": [
        0.7284725308418274,
        -9.238934580935165e-06,
        -9.30095266085118e-05,
        0.685075044631958
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 1.9500000000000002,
      "clearance_m": -0.0002543330192565918,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260009825229645,
      "action": [
        1.0,
        0.14029023051261902,
        -0.5654155611991882,
        0.034284837543964386,
        0.11420368403196335,
        -0.03619246184825897,
        1.0
      ],
      "proprioception": [
        -3.2489569187164307,
        -0.8675258755683899,
        0.7227268815040588,
        -1.548488736152649,
        -1.554066777229309,
        -0.09989041090011597,
        0.9960920810699463,
        0.7988394498825073,
        0.02840220183134079,
        0.20322388410568237,
        -0.0061796982772648335,
        -0.9999717473983765,
        -0.0043358090333640575,
        -0.9923556447029114,
        0.006666943896561861,
        -0.12323221564292908
      ],
      "bottle_position_world": [
        -0.20123203098773956,
        0.10019109398126602,
        0.8377181887626648
      ],
      "bottle_quaternion_world": [
        0.7284724116325378,
        -4.859413093072362e-05,
        -7.734396604064386e-06,
        0.6850751638412476
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.0,
      "clearance_m": -0.00024944543838500977,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259893596172333,
      "action": [
        0.98589026927948,
        0.13018366694450378,
        -0.56629478931427,
        0.027102909982204437,
        0.11725461483001709,
        -0.0384514182806015,
        1.0
      ],
      "proprioception": [
        -3.2480361461639404,
        -0.8557366728782654,
        0.7068966627120972,
        -1.542864203453064,
        -1.554046630859375,
        -0.09847668558359146,
        0.9960840344429016,
        0.8019437789916992,
        0.028808869421482086,
        0.20132622122764587,
        -0.006666662637144327,
        -0.9999670386314392,
        -0.004687816370278597,
        -0.9925455451011658,
        0.007187528535723686,
        -0.12166397273540497
      ],
      "bottle_position_world": [
        -0.20122785866260529,
        0.10018081218004227,
        0.8377231955528259
      ],
      "bottle_quaternion_world": [
        0.7284724116325378,
        5.725788287236355e-05,
        -4.872561839874834e-05,
        0.6850751638412476
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.0500000000000003,
      "clearance_m": -0.00026303529739379883,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600229382514954,
      "action": [
        0.9668393135070801,
        0.12261710315942764,
        -0.5659204721450806,
        0.018399514257907867,
        0.12051379680633545,
        -0.032588765025138855,
        1.0
      ],
      "proprioception": [
        -3.247101068496704,
        -0.8436139225959778,
        0.6905367374420166,
        -1.5369558334350586,
        -1.5541276931762695,
        -0.09712889790534973,
        0.99607914686203,
        0.8050698637962341,
        0.02920190617442131,
        0.1993541419506073,
        -0.007087227422744036,
        -0.9999627470970154,
        -0.004935725126415491,
        -0.9927449226379395,
        0.007628352846950293,
        -0.11999855190515518
      ],
      "bottle_position_world": [
        -0.20123232901096344,
        0.10019143670797348,
        0.837715744972229
      ],
      "bottle_quaternion_world": [
        0.7284726500511169,
        -5.331854845280759e-05,
        -6.887531981192296e-06,
        0.6850748658180237
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.1,
      "clearance_m": -0.0002599954605102539,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600658535957336,
      "action": [
        0.9470979571342468,
        0.11506912857294083,
        -0.5655031204223633,
        0.011022306978702545,
        0.12408037483692169,
        -0.027563080191612244,
        1.0
      ],
      "proprioception": [
        -3.2462055683135986,
        -0.8320099711418152,
        0.6745253205299377,
        -1.5311280488967896,
        -1.5542858839035034,
        -0.0959157943725586,
        0.9960891604423523,
        0.8080406188964844,
        0.029563773423433304,
        0.19758136570453644,
        -0.007421876769512892,
        -0.9999598264694214,
        -0.005062914453446865,
        -0.9929134845733643,
        0.007969914935529232,
        -0.11857390403747559
      ],
      "bottle_position_world": [
        -0.2012377828359604,
        0.10019125044345856,
        0.8377127051353455
      ],
      "bottle_quaternion_world": [
        0.7284732460975647,
        -9.03264299267903e-05,
        -4.922783773508854e-05,
        0.6850742697715759
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.15,
      "clearance_m": -0.0002582669258117676,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260004758834839,
      "action": [
        0.912581205368042,
        0.103659488260746,
        -0.5916860103607178,
        0.03571940213441849,
        0.1272348165512085,
        -0.036672160029411316,
        1.0
      ],
      "proprioception": [
        -3.245452404022217,
        -0.8201543092727661,
        0.6585215330123901,
        -1.5253076553344727,
        -1.5541486740112305,
        -0.09469163417816162,
        0.9960758090019226,
        0.8110049962997437,
        0.02989950403571129,
        0.19556157290935516,
        -0.007877162657678127,
        -0.9999540448188782,
        -0.0055039022117853165,
        -0.9931045174598694,
        0.00846677366644144,
        -0.11692747473716736
      ],
      "bottle_position_world": [
        -0.20123602449893951,
        0.10018499195575714,
        0.8377143144607544
      ],
      "bottle_quaternion_world": [
        0.7284742593765259,
        -3.172251672367565e-05,
        -8.010902092792094e-05,
        0.68507319688797
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.2,
      "clearance_m": -0.00025838613510131836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600253224372864,
      "action": [
        0.8929390907287598,
        0.1046321764588356,
        -0.5893380641937256,
        0.02307479828596115,
        0.1305609941482544,
        -0.026716873049736023,
        1.0
      ],
      "proprioception": [
        -3.2446446418762207,
        -0.8079706430435181,
        0.6419604420661926,
        -1.519195318222046,
        -1.554152250289917,
        -0.09353949129581451,
        0.9960768222808838,
        0.8139849901199341,
        0.030242860317230225,
        0.19348160922527313,
        -0.008224007673561573,
        -0.9999497532844543,
        -0.005799341481178999,
        -0.9933027625083923,
        0.008837462402880192,
        -0.1152050718665123
      ],
      "bottle_position_world": [
        -0.20123812556266785,
        0.10018612444400787,
        0.8377143740653992
      ],
      "bottle_quaternion_world": [
        0.7284748554229736,
        -5.568130291067064e-05,
        -8.839745714794844e-05,
        0.6850726008415222
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.25,
      "clearance_m": -0.0002624392509460449,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259905219078064,
      "action": [
        0.8733007907867432,
        0.10045430809259415,
        -0.5918850898742676,
        0.014413110911846161,
        0.13573038578033447,
        -0.020223870873451233,
        1.0
      ],
      "proprioception": [
        -3.243809461593628,
        -0.79542475938797,
        0.6248309016227722,
        -1.512760877609253,
        -1.554260015487671,
        -0.09245273470878601,
        0.9960851669311523,
        0.8169748783111572,
        0.030582895502448082,
        0.19131240248680115,
        -0.0084915766492486,
        -0.9999462366104126,
        -0.005991118494421244,
        -0.9935126304626465,
        0.009116094559431076,
        -0.11335828900337219
      ],
      "bottle_position_world": [
        -0.20121848583221436,
        0.1001838743686676,
        0.8377102613449097
      ],
      "bottle_quaternion_world": [
        0.72847580909729,
        9.961800969904289e-05,
        4.1997300286311656e-05,
        0.6850715279579163
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.3000000000000003,
      "clearance_m": -0.0002588629722595215,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259953796863556,
      "action": [
        0.8531102538108826,
        0.09420362859964371,
        -0.5932517647743225,
        0.007646031677722931,
        0.1407184600830078,
        -0.01761631667613983,
        1.0
      ],
      "proprioception": [
        -3.243007183074951,
        -0.783408522605896,
        0.6080578565597534,
        -1.5064083337783813,
        -1.5544415712356567,
        -0.0914577916264534,
        0.996099054813385,
        0.8198069334030151,
        0.030896533280611038,
        0.18935321271419525,
        -0.008707781322300434,
        -0.9999437928199768,
        -0.006072158459573984,
        -0.9936919212341309,
        0.0093319620937109,
        -0.11175675690174103
      ],
      "bottle_position_world": [
        -0.2012202888727188,
        0.10019092261791229,
        0.8377137184143066
      ],
      "bottle_quaternion_world": [
        0.7284769415855408,
        3.4333133953623474e-05,
        7.866942905820906e-05,
        0.6850703954696655
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.35,
      "clearance_m": -0.0002586245536804199,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259951114654541,
      "action": [
        0.7873120903968811,
        0.09130940586328506,
        -0.6483391523361206,
        0.033037565648555756,
        0.13852551579475403,
        -0.04203177988529205,
        1.0
      ],
      "proprioception": [
        -3.2423183917999268,
        -0.771587610244751,
        0.5924986004829407,
        -1.5008327960968018,
        -1.5543378591537476,
        -0.09023699909448624,
        0.9960843920707703,
        0.8225471377372742,
        0.031211255118250847,
        0.18698716163635254,
        -0.009232317097485065,
        -0.9999365210533142,
        -0.006478909868746996,
        -0.9938891530036926,
        0.009888794273138046,
        -0.10994022339582443
      ],
      "bottle_position_world": [
        -0.20122097432613373,
        0.10019008070230484,
        0.837713897228241
      ],
      "bottle_quaternion_world": [
        0.728477418422699,
        3.5602231946540996e-05,
        6.768482126062736e-05,
        0.6850698590278625
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.4000000000000004,
      "clearance_m": -0.0002588033676147461,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259949028491974,
      "action": [
        0.8048648238182068,
        0.09749463945627213,
        -0.6141937375068665,
        0.01382274180650711,
        0.14703945815563202,
        -0.011024847626686096,
        1.0
      ],
      "proprioception": [
        -3.2415268421173096,
        -0.7589990496635437,
        0.5751372575759888,
        -1.494164228439331,
        -1.554438829421997,
        -0.08930929005146027,
        0.9960876107215881,
        0.8253645300865173,
        0.03154897317290306,
        0.1847338229417801,
        -0.009386187419295311,
        -0.9999338984489441,
        -0.00665252236649394,
        -0.9940950870513916,
        0.01005020085722208,
        -0.10804831981658936
      ],
      "bottle_position_world": [
        -0.20122042298316956,
        0.1001904085278511,
        0.8377141356468201
      ],
      "bottle_quaternion_world": [
        0.7284777164459229,
        3.6565677874023095e-05,
        7.417430606437847e-05,
        0.6850695013999939
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.45,
      "clearance_m": -0.00025773048400878906,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598873376846313,
      "action": [
        0.7549564838409424,
        0.09176448732614517,
        -0.6481968760490417,
        0.01599731296300888,
        0.14935290813446045,
        -0.019615039229393005,
        1.0
      ],
      "proprioception": [
        -3.2407641410827637,
        -0.7464379668235779,
        0.5585155487060547,
        -1.4878835678100586,
        -1.5545217990875244,
        -0.08830127865076065,
        0.996164858341217,
        0.8280828595161438,
        0.03188224136829376,
        0.18212774395942688,
        -0.009649516083300114,
        -0.9999300241470337,
        -0.006877559702843428,
        -0.9943302869796753,
        0.010323399677872658,
        -0.10583575069904327
      ],
      "bottle_position_world": [
        -0.20121625065803528,
        0.10018590092658997,
        0.8377153873443604
      ],
      "bottle_quaternion_world": [
        0.7284777164459229,
        9.959610179066658e-05,
        7.369309605564922e-05,
        0.6850695013999939
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.5,
      "clearance_m": -0.0002582073211669922,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600560188293457,
      "action": [
        0.7559969425201416,
        0.08737871795892715,
        -0.6267107725143433,
        0.0030863285064697266,
        0.15663912892341614,
        -0.008692875504493713,
        1.0
      ],
      "proprioception": [
        -3.240006685256958,
        -0.7342689633369446,
        0.5414042472839355,
        -1.4812090396881104,
        -1.5547459125518799,
        -0.08746206760406494,
        0.9961455464363098,
        0.830695390701294,
        0.03218596801161766,
        0.17999891936779022,
        -0.009761910885572433,
        -0.9999287128448486,
        -0.006897950544953346,
        -0.9945129752159119,
        0.010427109897136688,
        -0.10409446060657501
      ],
      "bottle_position_world": [
        -0.20123451948165894,
        0.10019350796937943,
        0.8377143144607544
      ],
      "bottle_quaternion_world": [
        0.728477954864502,
        -8.526049350621179e-05,
        -8.697717930772342e-06,
        0.6850693225860596
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.5500000000000003,
      "clearance_m": -0.00025981664657592773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259875416755676,
      "action": [
        0.6435863971710205,
        0.0893339291214943,
        -0.7334127426147461,
        0.027962423861026764,
        0.14925062656402588,
        -0.046984925866127014,
        1.0
      ],
      "proprioception": [
        -3.239366292953491,
        -0.7234121561050415,
        0.5283340811729431,
        -1.4767882823944092,
        -1.554703950881958,
        -0.08623489737510681,
        0.9961966872215271,
        0.8329759240150452,
        0.032503992319107056,
        0.17713835835456848,
        -0.010353585705161095,
        -0.999920129776001,
        -0.007260079961270094,
        -0.9947332739830017,
        0.011039742268621922,
        -0.10190211236476898
      ],
      "bottle_position_world": [
        -0.20121708512306213,
        0.1001821979880333,
        0.8377128839492798
      ],
      "bottle_quaternion_world": [
        0.7284783124923706,
        0.0001208789472002536,
        4.1163511923514307e-05,
        0.6850688457489014
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.6,
      "clearance_m": -0.0002586245536804199,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600560188293457,
      "action": [
        0.7288310527801514,
        0.09432337433099747,
        -0.6215560436248779,
        -0.0009057521820068359,
        0.16610760986804962,
        0.006074652075767517,
        1.0
      ],
      "proprioception": [
        -3.238572835922241,
        -0.7106350064277649,
        0.5100947022438049,
        -1.4693193435668945,
        -1.5549700260162354,
        -0.08553760498762131,
        0.996144711971283,
        0.8355371356010437,
        0.0328381322324276,
        0.17489935457706451,
        -0.010295136831700802,
        -0.9999211430549622,
        -0.007240904029458761,
        -0.994938850402832,
        0.010967128910124302,
        -0.09988519549369812
      ],
      "bottle_position_world": [
        -0.20123910903930664,
        0.1001894399523735,
        0.8377140164375305
      ],
      "bottle_quaternion_world": [
        0.7284789681434631,
        -8.886636351235211e-05,
        -7.253955845953897e-05,
        0.6850681900978088
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.6500000000000004,
      "clearance_m": -0.0002574920654296875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599985003471375,
      "action": [
        0.5836770534515381,
        0.08937356621026993,
        -0.7680369019508362,
        0.018632464110851288,
        0.15702316164970398,
        -0.04047684371471405,
        1.0
      ],
      "proprioception": [
        -3.237910270690918,
        -0.699989914894104,
        0.4978296458721161,
        -1.4652761220932007,
        -1.5550334453582764,
        -0.08436046540737152,
        0.9961958527565002,
        0.8376556038856506,
        0.03316716104745865,
        0.1717822402715683,
        -0.010827901773154736,
        -0.9999135136604309,
        -0.007502624299377203,
        -0.9951723217964172,
        0.011507862247526646,
        -0.09746847301721573
      ],
      "bottle_position_world": [
        -0.20123492181301117,
        0.10018541663885117,
        0.8377150893211365
      ],
      "bottle_quaternion_world": [
        0.7284794449806213,
        -2.9686425477848388e-05,
        -6.97301875334233e-05,
        0.6850676536560059
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.7,
      "clearance_m": -0.0002593398094177246,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600592970848083,
      "action": [
        0.6874642372131348,
        0.08901462703943253,
        -0.617382824420929,
        -0.01315397024154663,
        0.1761614829301834,
        0.00916348397731781,
        1.0
      ],
      "proprioception": [
        -3.23714280128479,
        -0.6877790093421936,
        0.479873925447464,
        -1.457716941833496,
        -1.5554299354553223,
        -0.08373147994279861,
        0.9961585998535156,
        0.839978814125061,
        0.033473215997219086,
        0.16977784037590027,
        -0.010738135315477848,
        -0.9999157190322876,
        -0.007324368227273226,
        -0.9953519105911255,
        0.011389602907001972,
        -0.09563125669956207
      ],
      "bottle_position_world": [
        -0.20123405754566193,
        0.10019379109144211,
        0.8377132415771484
      ],
      "bottle_quaternion_world": [
        0.7284795641899109,
        -8.573699597036466e-05,
        -3.7346530916693155e-06,
        0.6850675940513611
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.75,
      "clearance_m": -0.0002551078796386719,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259909391403198,
      "action": [
        0.4366523027420044,
        0.11004207283258438,
        -0.9404398202896118,
        0.023541361093521118,
        0.15297505259513855,
        -0.0825946182012558,
        1.0
      ],
      "proprioception": [
        -3.236510992050171,
        -0.6803963780403137,
        0.47448644042015076,
        -1.4574072360992432,
        -1.5554767847061157,
        -0.08208950608968735,
        0.9962044358253479,
        0.8414701819419861,
        0.033846765756607056,
        0.1663021445274353,
        -0.011762344278395176,
        -0.9999019503593445,
        -0.007626458536833525,
        -0.9955580830574036,
        0.012423047795891762,
        -0.09332859516143799
      ],
      "bottle_position_world": [
        -0.20122317969799042,
        0.1001841202378273,
        0.8377174735069275
      ],
      "bottle_quaternion_world": [
        0.7284795641899109,
        6.292697071330622e-05,
        8.90745286596939e-06,
        0.6850675940513611
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.8000000000000003,
      "clearance_m": -0.00025540590286254883,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259922206401825,
      "action": [
        0.6109973192214966,
        0.12936517596244812,
        -0.6378471255302429,
        -0.005603983998298645,
        0.169221431016922,
        0.014736101031303406,
        1.0
      ],
      "proprioception": [
        -3.235595226287842,
        -0.6683633923530579,
        0.4575417935848236,
        -1.4503685235977173,
        -1.5557953119277954,
        -0.0813870057463646,
        0.996129035949707,
        0.8436399102210999,
        0.03432014584541321,
        0.16393639147281647,
        -0.011591464281082153,
        -0.9999045133590698,
        -0.007550951559096575,
        -0.9957588911056519,
        0.012231988832354546,
        -0.09118657559156418
      ],
      "bottle_position_world": [
        -0.20122335851192474,
        0.10018559545278549,
        0.8377171158790588
      ],
      "bottle_quaternion_world": [
        0.7284795641899109,
        5.0464237574487925e-05,
        1.7769991245586425e-05,
        0.6850675940513611
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.85,
      "clearance_m": -0.00025910139083862305,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259946048259735,
      "action": [
        0.5270991325378418,
        0.09953150898218155,
        -0.7894147634506226,
        0.011698216199874878,
        0.17462307214736938,
        -0.0021162182092666626,
        1.0
      ],
      "proprioception": [
        -3.234896659851074,
        -0.6576378345489502,
        0.44489121437072754,
        -1.4458448886871338,
        -1.5559086799621582,
        -0.08068098872900009,
        0.996192991733551,
        0.8455474376678467,
        0.034696709364652634,
        0.1607716828584671,
        -0.011626121588051319,
        -0.9999027848243713,
        -0.007714858744293451,
        -0.9959926605224609,
        0.012264177203178406,
        -0.08859238028526306
      ],
      "bottle_position_world": [
        -0.20123246312141418,
        0.10017935931682587,
        0.8377135992050171
      ],
      "bottle_quaternion_world": [
        0.7284797430038452,
        3.310291867819615e-05,
        -9.405684977537021e-05,
        0.685067355632782
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.9000000000000004,
      "clearance_m": -0.0002600550651550293,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259927272796631,
      "action": [
        0.5976670384407043,
        0.08284739404916763,
        -0.6641485095024109,
        -0.013437651097774506,
        0.19632279872894287,
        0.024442508816719055,
        1.0
      ],
      "proprioception": [
        -3.234198570251465,
        -0.6455609798431396,
        0.427223801612854,
        -1.4381667375564575,
        -1.5562996864318848,
        -0.08030707389116287,
        0.996152937412262,
        0.8475819230079651,
        0.034985627979040146,
        0.15858358144760132,
        -0.011350533924996853,
        -0.9999074339866638,
        -0.0075292340479791164,
        -0.9961814880371094,
        0.011959453113377094,
        -0.08648562431335449
      ],
      "bottle_position_world": [
        -0.20121872425079346,
        0.10018811374902725,
        0.837712824344635
      ],
      "bottle_quaternion_world": [
        0.7284803986549377,
        6.515851418953389e-05,
        7.065974205033854e-05,
        0.6850666999816895
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 2.95,
      "clearance_m": -0.00025719404220581055,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599672079086304,
      "action": [
        0.3373689651489258,
        0.12329620867967606,
        -1.0,
        -0.017473384737968445,
        0.1801733374595642,
        -0.08009886741638184,
        1.0
      ],
      "proprioception": [
        -3.2334072589874268,
        -0.6391425132751465,
        0.42374387383461,
        -1.4384998083114624,
        -1.5568652153015137,
        -0.07857850939035416,
        0.9962545037269592,
        0.848709762096405,
        0.03539072722196579,
        0.15496425330638885,
        -0.012348667718470097,
        -0.9998971223831177,
        -0.007323890924453735,
        -0.9963956475257874,
        0.012919499538838863,
        -0.08384012430906296
      ],
      "bottle_position_world": [
        -0.20122426748275757,
        0.10019021481275558,
        0.8377152681350708
      ],
      "bottle_quaternion_world": [
        0.7284811735153198,
        1.0568144716671668e-05,
        4.443598663783632e-05,
        0.6850658059120178
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.0,
      "clearance_m": -0.00025916099548339844,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259917736053467,
      "action": [
        0.5248578190803528,
        0.12936773896217346,
        -0.6515001654624939,
        -0.0005492940545082092,
        0.17817455530166626,
        -0.007593795657157898,
        0.9996097087860107
      ],
      "proprioception": [
        -3.2325353622436523,
        -0.6274925470352173,
        0.40731099247932434,
        -1.4314630031585693,
        -1.5571411848068237,
        -0.07765455543994904,
        0.9960947036743164,
        0.8505761623382568,
        0.03587992116808891,
        0.1525397002696991,
        -0.012436806224286556,
        -0.9998961687088013,
        -0.007304028607904911,
        -0.9965829253196716,
        0.01299145445227623,
        -0.08157262206077576
      ],
      "bottle_position_world": [
        -0.20122458040714264,
        0.10018192231655121,
        0.8377133011817932
      ],
      "bottle_quaternion_world": [
        0.7284811735153198,
        7.016141171334311e-05,
        -1.6673555364832282e-05,
        0.6850658059120178
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.0500000000000003,
      "clearance_m": -0.00026404857635498047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600491642951965,
      "action": [
        0.4167540669441223,
        0.1106170192360878,
        -0.8998068571090698,
        0.01625564694404602,
        0.17884477972984314,
        -0.02670522779226303,
        1.0
      ],
      "proprioception": [
        -3.2318594455718994,
        -0.6185382604598999,
        0.39876335859298706,
        -1.4292223453521729,
        -1.5572125911712646,
        -0.076651930809021,
        0.9961923956871033,
        0.8520790338516235,
        0.03629658371210098,
        0.14898447692394257,
        -0.012785364873707294,
        -0.9998900890350342,
        -0.007519733626395464,
        -0.9967911243438721,
        0.013339298777282238,
        -0.07892889529466629
      ],
      "bottle_position_world": [
        -0.2012259066104889,
        0.10020022094249725,
        0.8377149105072021
      ],
      "bottle_quaternion_world": [
        0.7284814715385437,
        -7.609283056808636e-05,
        0.00010246392776025459,
        0.6850655674934387
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.1,
      "clearance_m": -0.0002589225769042969,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259933531284332,
      "action": [
        0.5274556279182434,
        0.09005824476480484,
        -0.6687663197517395,
        0.002459682524204254,
        0.20327499508857727,
        0.043704405426979065,
        1.0
      ],
      "proprioception": [
        -3.231233835220337,
        -0.6066234111785889,
        0.38113024830818176,
        -1.4213147163391113,
        -1.557393193244934,
        -0.07655265182256699,
        0.9961424469947815,
        0.8538646101951599,
        0.03661622479557991,
        0.14677436649799347,
        -0.012289360165596008,
        -0.9998964667320251,
        -0.007517344783991575,
        -0.9969689846038818,
        0.01283028069883585,
        -0.07673795521259308
      ],
      "bottle_position_world": [
        -0.20123040676116943,
        0.10017943382263184,
        0.8377137184143066
      ],
      "bottle_quaternion_world": [
        0.7284826636314392,
        4.683150473283604e-05,
        -7.824690692359582e-05,
        0.6850642561912537
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.1500000000000004,
      "clearance_m": -0.00025957822799682617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425999253988266,
      "action": [
        0.22964106500148773,
        0.16330981254577637,
        -1.0,
        -0.0836539939045906,
        0.22294151782989502,
        0.009679421782493591,
        0.38752904534339905
      ],
      "proprioception": [
        -3.2300758361816406,
        -0.6008163690567017,
        0.3787025213241577,
        -1.4216434955596924,
        -1.5587272644042969,
        -0.07560104876756668,
        0.8887180685997009,
        0.8546494245529175,
        0.03715598210692406,
        0.14309382438659668,
        -0.01220165379345417,
        -0.9999046921730042,
        -0.00649645272642374,
        -0.9972079992294312,
        0.01264689490199089,
        -0.07359722256660461
      ],
      "bottle_position_world": [
        -0.20122185349464417,
        0.10019470006227493,
        0.8377129435539246
      ],
      "bottle_quaternion_world": [
        0.7284837365150452,
        -6.638344075327041e-06,
        9.3050766736269e-05,
        0.6850630640983582
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.2,
      "clearance_m": -0.00025963783264160156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259990155696869,
      "action": [
        0.43871843814849854,
        0.28534963726997375,
        -0.40908560156822205,
        -0.13658204674720764,
        0.08228874206542969,
        0.5767967700958252,
        1.0
      ],
      "proprioception": [
        -3.2282235622406006,
        -0.5905141830444336,
        0.3629016876220703,
        -1.415000557899475,
        -1.5601096153259277,
        -0.08103765547275543,
        0.9617354869842529,
        0.8562031984329224,
        0.03820887953042984,
        0.14143654704093933,
        -0.0050348457880318165,
        -0.9999760985374451,
        -0.004815428517758846,
        -0.9973627924919128,
        0.005370225757360458,
        -0.07238244265317917
      ],
      "bottle_position_world": [
        -0.2012358158826828,
        0.10018239915370941,
        0.8377130031585693
      ],
      "bottle_quaternion_world": [
        0.7284848093986511,
        -1.4070328688831069e-05,
        -9.846605098573491e-05,
        0.6850619912147522
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.25,
      "clearance_m": -0.0002608299255371094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259999394416809,
      "action": [
        0.1313355416059494,
        0.1135236993432045,
        -1.0,
        -0.1047748401761055,
        0.24218332767486572,
        0.34698396921157837,
        0.3258479833602905
      ],
      "proprioception": [
        -3.227174997329712,
        -0.586402416229248,
        0.3637847602367401,
        -1.4168059825897217,
        -1.5614451169967651,
        -0.08460462838411331,
        0.8565207123756409,
        0.8566654324531555,
        0.038687705993652344,
        0.13770551979541779,
        -0.0005356574547477067,
        -0.9999938607215881,
        -0.003500967286527157,
        -0.9976084232330322,
        0.0007763354224152863,
        -0.0691164880990982
      ],
      "bottle_position_world": [
        -0.20122130215168,
        0.10019556432962418,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7284861207008362,
        -9.23569496080745e-06,
        0.00010335201659472659,
        0.6850606203079224
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.3000000000000003,
      "clearance_m": -0.00026047229766845703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599624395370483,
      "action": [
        0.3605843186378479,
        0.20346686244010925,
        -0.4481750428676605,
        -0.1658686250448227,
        0.1699083149433136,
        0.5165259838104248,
        1.0
      ],
      "proprioception": [
        -3.225649833679199,
        -0.5762854814529419,
        0.3480115830898285,
        -1.4091897010803223,
        -1.5632646083831787,
        -0.08935833722352982,
        0.9529475569725037,
        0.8578875064849854,
        0.039374250918626785,
        0.13604813814163208,
        0.005603974685072899,
        -0.9999833703041077,
        -0.0015400471165776253,
        -0.9977365732192993,
        -0.005488186608999968,
        -0.06702275574207306
      ],
      "bottle_position_world": [
        -0.20123553276062012,
        0.1001783013343811,
        0.8377121686935425
      ],
      "bottle_quaternion_world": [
        0.7284877896308899,
        1.9241682821302675e-05,
        -0.0001242483704118058,
        0.6850588917732239
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.35,
      "clearance_m": -0.00026023387908935547,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260066747665405,
      "action": [
        0.05962367355823517,
        0.05498576909303665,
        -1.0,
        -0.12760445475578308,
        0.2878149151802063,
        0.12265585362911224,
        -0.1805015206336975
      ],
      "proprioception": [
        -3.2247183322906494,
        -0.572705090045929,
        0.3494458794593811,
        -1.4106696844100952,
        -1.5650807619094849,
        -0.0902269259095192,
        0.721898078918457,
        0.8581072688102722,
        0.03964085504412651,
        0.13245201110839844,
        0.007281516678631306,
        -0.9999738335609436,
        3.686174750328064e-06,
        -0.9979652166366577,
        -0.0072671398520469666,
        -0.06334801018238068
      ],
      "bottle_position_world": [
        -0.20123839378356934,
        0.10019070655107498,
        0.8377123475074768
      ],
      "bottle_quaternion_world": [
        0.7284890413284302,
        -9.358098031952977e-05,
        -5.800103099318221e-05,
        0.6850574612617493
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.4000000000000004,
      "clearance_m": -0.0002606511116027832,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259956479072571,
      "action": [
        0.2143329530954361,
        0.2774413228034973,
        -0.28253063559532166,
        -0.2684570848941803,
        0.11195165663957596,
        0.46550893783569336,
        1.0
      ],
      "proprioception": [
        -3.2224206924438477,
        -0.5654135942459106,
        0.3382517993450165,
        -1.40529465675354,
        -1.5683175325393677,
        -0.09395147114992142,
        0.913459300994873,
        0.8588624000549316,
        0.04063309356570244,
        0.13116513192653656,
        0.01309716235846281,
        -0.9999091625213623,
        0.0033177435398101807,
        -0.9980140924453735,
        -0.01327670831233263,
        -0.061581358313560486
      ],
      "bottle_position_world": [
        -0.2012191116809845,
        0.10019144415855408,
        0.8377119302749634
      ],
      "bottle_quaternion_world": [
        0.7284902930259705,
        3.734746132977307e-05,
        9.079953451873735e-05,
        0.6850561499595642
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.45,
      "clearance_m": -0.00026035308837890625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259946346282959,
      "action": [
        -0.0889873057603836,
        -0.04197075217962265,
        -1.0,
        0.3819413185119629,
        0.22507160902023315,
        -0.32027414441108704,
        0.24445345997810364
      ],
      "proprioception": [
        -3.223966121673584,
        -0.5676177144050598,
        0.3513243794441223,
        -1.412781000137329,
        -1.563852071762085,
        -0.09129071980714798,
        0.814134955406189,
        0.8585359454154968,
        0.04059422016143799,
        0.1274264007806778,
        0.009166327305138111,
        -0.9999568462371826,
        -0.0015936531126499176,
        -0.9982384443283081,
        -0.00905715674161911,
        -0.05863440781831741
      ],
      "bottle_position_world": [
        -0.20123307406902313,
        0.10017825663089752,
        0.8377123475074768
      ],
      "bottle_quaternion_world": [
        0.7284915447235107,
        3.687284333864227e-05,
        -0.00010647856834111735,
        0.6850548386573792
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.5,
      "clearance_m": -0.00026106834411621094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600053548812866,
      "action": [
        0.24128882586956024,
        0.26937904953956604,
        -0.4578140079975128,
        -0.006715275347232819,
        0.0015271231532096863,
        -0.5267505049705505,
        1.0
      ],
      "proprioception": [
        -3.2228312492370605,
        -0.5639361143112183,
        0.34879565238952637,
        -1.4136805534362793,
        -1.5643024444580078,
        -0.08366239815950394,
        0.9417389035224915,
        0.8593422770500183,
        0.04137249290943146,
        0.12563487887382507,
        0.002659461461007595,
        -0.9999953508377075,
        -0.0016141925007104874,
        -0.9982941746711731,
        -0.0025608015712350607,
        -0.05833105742931366
      ],
      "bottle_position_world": [
        -0.20122230052947998,
        0.10019539296627045,
        0.83771151304245
      ],
      "bottle_quaternion_world": [
        0.7284923791885376,
        -1.5178226931311656e-05,
        9.53485505306162e-05,
        0.6850539445877075
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.5500000000000003,
      "clearance_m": -0.0002606511116027832,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600706219673157,
      "action": [
        0.375127911567688,
        0.03444574028253555,
        -0.8568869829177856,
        0.305602103471756,
        0.08253167569637299,
        -0.6974724531173706,
        0.7039691209793091
      ],
      "proprioception": [
        -3.2234392166137695,
        -0.5576848387718201,
        0.34410709142684937,
        -1.4141016006469727,
        -1.5611079931259155,
        -0.07561038434505463,
        0.9296364784240723,
        0.8606660962104797,
        0.04164201766252518,
        0.12266717851161957,
        -0.005806750152260065,
        -0.9999691843986511,
        -0.005350250285118818,
        -0.9983316659927368,
        0.006104441825300455,
        -0.05742073804140091
      ],
      "bottle_position_world": [
        -0.20124223828315735,
        0.10018792003393173,
        0.837712287902832
      ],
      "bottle_quaternion_world": [
        0.7284931540489197,
        -0.00010086019028676674,
        -0.00010687822214094922,
        0.6850531101226807
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.6,
      "clearance_m": -0.0002595186233520508,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259902834892273,
      "action": [
        0.20573492348194122,
        0.14255592226982117,
        -0.9215646982192993,
        0.13212621212005615,
        0.16732700169086456,
        -0.501508355140686,
        -0.639195442199707
      ],
      "proprioception": [
        -3.2232367992401123,
        -0.552945613861084,
        0.3434560000896454,
        -1.4157034158706665,
        -1.5599828958511353,
        -0.06890658289194107,
        0.5695105791091919,
        0.8613963723182678,
        0.04207230731844902,
        0.11911716312170029,
        -0.012249344028532505,
        -0.9999005198478699,
        -0.007027981337159872,
        -0.998407781124115,
        0.0126175032928586,
        -0.05498431622982025
      ],
      "bottle_position_world": [
        -0.20122270286083221,
        0.10018140077590942,
        0.8377131819725037
      ],
      "bottle_quaternion_world": [
        0.7284938097000122,
        8.513331704307348e-05,
        -7.109383659553714e-06,
        0.6850524544715881
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.6500000000000004,
      "clearance_m": -0.00025832653045654297,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259968400001526,
      "action": [
        0.02131764590740204,
        0.21428439021110535,
        0.1523745059967041,
        0.08818278461694717,
        -0.022502101957798004,
        -0.2556683421134949,
        -0.008422084152698517
      ],
      "proprioception": [
        -3.2226219177246094,
        -0.5517364740371704,
        0.34055498242378235,
        -1.4136955738067627,
        -1.5590451955795288,
        -0.06496620178222656,
        0.5893595814704895,
        0.86143559217453,
        0.04286051541566849,
        0.11929713934659958,
        -0.015519704669713974,
        -0.9998461604118347,
        -0.008199820294976234,
        -0.998375654220581,
        0.015945466235280037,
        -0.05470210313796997
      ],
      "bottle_position_world": [
        -0.20122285187244415,
        0.10019105672836304,
        0.8377141356468201
      ],
      "bottle_quaternion_world": [
        0.7284944653511047,
        1.2272590538486838e-05,
        6.023388050380163e-05,
        0.6850517988204956
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.7,
      "clearance_m": -0.00025910139083862305,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259966015815735,
      "action": [
        0.11683954298496246,
        -0.09969649463891983,
        -0.37521812319755554,
        -0.09727763384580612,
        0.10969651490449905,
        -0.05848853290081024,
        -0.9211940169334412
      ],
      "proprioception": [
        -3.2224838733673096,
        -0.5484380722045898,
        0.33649322390556335,
        -1.4121745824813843,
        -1.5603119134902954,
        -0.06419166922569275,
        0.26858142018318176,
        0.8618612885475159,
        0.04258805140852928,
        0.11830791085958481,
        -0.016229452565312386,
        -0.9998437762260437,
        -0.007028781343251467,
        -0.9984109997749329,
        0.016584794968366623,
        -0.05385974049568176
      ],
      "bottle_position_world": [
        -0.20122158527374268,
        0.10019142925739288,
        0.837713360786438
      ],
      "bottle_quaternion_world": [
        0.7284948229789734,
        1.834072645578999e-05,
        7.249046757351607e-05,
        0.6850513219833374
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.75,
      "clearance_m": -0.00025665760040283203,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259985685348511,
      "action": [
        0.018932953476905823,
        -0.17964878678321838,
        0.6244217157363892,
        0.0936184898018837,
        0.08936544507741928,
        -0.1867424100637436,
        -0.615594208240509
      ],
      "proprioception": [
        -3.2235069274902344,
        -0.5424779057502747,
        0.31965580582618713,
        -1.3996806144714355,
        -1.5593677759170532,
        -0.06292667239904404,
        0.2542724609375,
        0.8618755340576172,
        0.04197435826063156,
        0.12013477087020874,
        -0.018477333709597588,
        -0.9997965693473816,
        -0.00814032182097435,
        -0.9984533190727234,
        0.01887829415500164,
        -0.05229867249727249
      ],
      "bottle_position_world": [
        -0.2012253701686859,
        0.1001921221613884,
        0.8377156853675842
      ],
      "bottle_quaternion_world": [
        0.7284950017929077,
        -1.376089858240448e-05,
        4.903470471617766e-05,
        0.6850511431694031
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.8000000000000003,
      "clearance_m": -0.0002588629722595215,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259908199310303,
      "action": [
        -0.07567046582698822,
        -0.20703068375587463,
        0.26973047852516174,
        -0.030911825597286224,
        0.22668775916099548,
        -0.08887438476085663,
        -1.0
      ],
      "proprioception": [
        -3.224266529083252,
        -0.5369798541069031,
        0.30516865849494934,
        -1.3882105350494385,
        -1.5599981546401978,
        -0.06251606345176697,
        0.09801959991455078,
        0.861616849899292,
        0.041166361421346664,
        0.1212938129901886,
        -0.01969856210052967,
        -0.9997767210006714,
        -0.007689593825489283,
        -0.9985588788986206,
        0.02005743607878685,
        -0.0497831255197525
      ],
      "bottle_position_world": [
        -0.20122365653514862,
        0.10018173605203629,
        0.837713897228241
      ],
      "bottle_quaternion_world": [
        0.7284950613975525,
        7.526295667048544e-05,
        -1.1904437997145578e-05,
        0.6850511431694031
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.85,
      "clearance_m": -0.0002574920654296875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599302530288696,
      "action": [
        -0.030465468764305115,
        -0.3063082993030548,
        0.5384202003479004,
        0.02213231474161148,
        0.22911182045936584,
        -0.2664564251899719,
        -0.7765852808952332
      ],
      "proprioception": [
        -3.2254183292388916,
        -0.5287091732025146,
        0.28345075249671936,
        -1.372288703918457,
        -1.5600441694259644,
        -0.06061115115880966,
        0.12858699262142181,
        0.861520528793335,
        0.04017295315861702,
        0.1231241226196289,
        -0.022773783653974533,
        -0.9997097849845886,
        -0.00788972619920969,
        -0.9986134767532349,
        0.023122074082493782,
        -0.0472986102104187
      ],
      "bottle_position_world": [
        -0.2012290209531784,
        0.10018090158700943,
        0.8377151489257812
      ],
      "bottle_quaternion_world": [
        0.7284951210021973,
        4.378135417937301e-05,
        -5.815588156110607e-05,
        0.6850509643554688
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.9000000000000004,
      "clearance_m": -0.00025957822799682617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260023534297943,
      "action": [
        -0.08090375363826752,
        -0.16611307859420776,
        0.12508437037467957,
        -0.07200124114751816,
        0.2886914908885956,
        0.023996666073799133,
        -1.0
      ],
      "proprioception": [
        -3.2258729934692383,
        -0.5215569734573364,
        0.26700881123542786,
        -1.3597526550292969,
        -1.561161756515503,
        -0.061210766434669495,
        0.05212993174791336,
        0.861240804195404,
        0.039491862058639526,
        0.12367340177297592,
        -0.0227045938372612,
        -0.9997183680534363,
        -0.006946776993572712,
        -0.9987673163414001,
        0.0229886993765831,
        -0.04399801045656204
      ],
      "bottle_position_world": [
        -0.20123672485351562,
        0.10018637031316757,
        0.8377130627632141
      ],
      "bottle_quaternion_world": [
        0.7284952402114868,
        -5.2046474593225867e-05,
        -7.75525186327286e-05,
        0.6850509643554688
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 3.95,
      "clearance_m": -0.0002560615539550781,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259941279888153,
      "action": [
        -0.007146164774894714,
        -0.3026904761791229,
        0.3844681680202484,
        -0.06238897889852524,
        0.2869243919849396,
        -0.0670793205499649,
        -0.9036838412284851
      ],
      "proprioception": [
        -3.226491689682007,
        -0.5122191309928894,
        0.2448561042547226,
        -1.344472050666809,
        -1.5619854927062988,
        -0.06132877618074417,
        0.06005517765879631,
        0.8612290620803833,
        0.0387301966547966,
        0.12481527030467987,
        -0.0232568196952343,
        -0.999709963798523,
        -0.006272176280617714,
        -0.9988626837730408,
        0.02349739708006382,
        -0.04148975387215614
      ],
      "bottle_position_world": [
        -0.20122240483760834,
        0.10018884390592575,
        0.8377165794372559
      ],
      "bottle_quaternion_world": [
        0.7284952402114868,
        3.068348814849742e-05,
        4.689717388828285e-05,
        0.6850509643554688
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.0,
      "clearance_m": -0.00023955106735229492,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259919822216034,
      "action": [
        -0.17130111157894135,
        -0.09215884655714035,
        0.38973328471183777,
        -0.07680287212133408,
        0.2546081840991974,
        0.244095578789711,
        -1.0
      ],
      "proprioception": [
        -3.2266881465911865,
        -0.5051982402801514,
        0.22662553191184998,
        -1.3300971984863281,
        -1.5630841255187988,
        -0.06444165855646133,
        0.026850683614611626,
        0.8606056571006775,
        0.03830578923225403,
        0.12610656023025513,
        -0.02040555514395237,
        -0.9997782111167908,
        -0.005252364557236433,
        -0.9990549683570862,
        0.020591888576745987,
        -0.03828216344118118
      ],
      "bottle_position_world": [
        -0.2012282907962799,
        0.1001889631152153,
        0.8377326130867004
      ],
      "bottle_quaternion_world": [
        0.7284952402114868,
        -1.2423602129274514e-05,
        3.199400453013368e-06,
        0.6850509643554688
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.05,
      "clearance_m": -0.00024622678756713867,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600196599960327,
      "action": [
        -0.0396103709936142,
        -0.2787341773509979,
        0.42107680439949036,
        -0.11822506040334702,
        0.2753196954727173,
        0.1549835354089737,
        -0.9770792126655579
      ],
      "proprioception": [
        -3.227074384689331,
        -0.49560537934303284,
        0.20365886390209198,
        -1.3146111965179443,
        -1.5642799139022827,
        -0.06637898832559586,
        0.02311311475932598,
        0.8604875802993774,
        0.03764818608760834,
        0.12733928859233856,
        -0.018910448998212814,
        -0.9998130202293396,
        -0.004126211628317833,
        -0.9991666674613953,
        0.0190472062677145,
        -0.036107033491134644
      ],
      "bottle_position_world": [
        -0.20123685896396637,
        0.10019243508577347,
        0.8377261757850647
      ],
      "bottle_quaternion_world": [
        0.7284952402114868,
        -9.769822645466775e-05,
        -3.614684101194143e-05,
        0.6850509643554688
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.1000000000000005,
      "clearance_m": -0.0002563595771789551,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260008931159973,
      "action": [
        -0.2065708488225937,
        -0.07710202783346176,
        0.5557202100753784,
        -0.09052851051092148,
        0.2165113389492035,
        0.315879225730896,
        -1.0
      ],
      "proprioception": [
        -3.227177381515503,
        -0.48795536160469055,
        0.1830950230360031,
        -1.2990421056747437,
        -1.5654505491256714,
        -0.07010213285684586,
        0.013299637474119663,
        0.8597765564918518,
        0.037291500717401505,
        0.12903602421283722,
        -0.015343104489147663,
        -0.9998779892921448,
        -0.0030111949890851974,
        -0.999323308467865,
        0.015435132198035717,
        -0.03339296951889992
      ],
      "bottle_position_world": [
        -0.2012375295162201,
        0.1001853346824646,
        0.8377163410186768
      ],
      "bottle_quaternion_world": [
        0.7284952402114868,
        -4.907925904262811e-05,
        -9.057460556505248e-05,
        0.6850509643554688
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.15,
      "clearance_m": -0.00025653839111328125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259837567806244,
      "action": [
        -0.07298789918422699,
        -0.21946990489959717,
        0.43322810530662537,
        -0.10771974176168442,
        0.25436240434646606,
        0.19199122488498688,
        -1.0
      ],
      "proprioception": [
        -3.2273828983306885,
        -0.47878625988960266,
        0.16081343591213226,
        -1.284422755241394,
        -1.566425085067749,
        -0.07207295298576355,
        0.00962651427835226,
        0.8595790266990662,
        0.03685826063156128,
        0.13032415509223938,
        -0.013614505529403687,
        -0.9999051690101624,
        -0.002082671970129013,
        -0.9993999600410461,
        0.013673895969986916,
        -0.03182653710246086
      ],
      "bottle_position_world": [
        -0.20121736824512482,
        0.1001783087849617,
        0.8377161622047424
      ],
      "bottle_quaternion_world": [
        0.7284952402114868,
        0.00014517408271785825,
        1.0241941708954982e-05,
        0.6850509643554688
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.2,
      "clearance_m": -0.00025582313537597656,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259931445121765,
      "action": [
        -0.16838882863521576,
        -0.08403673022985458,
        0.5033726692199707,
        -0.08177974075078964,
        0.21001598238945007,
        0.22942693531513214,
        -1.0
      ],
      "proprioception": [
        -3.2274694442749023,
        -0.46960410475730896,
        0.13800647854804993,
        -1.2686878442764282,
        -1.5673757791519165,
        -0.07450734078884125,
        0.008179184049367905,
        0.8590525388717651,
        0.03656179830431938,
        0.13169850409030914,
        -0.011300689540803432,
        -0.9999356269836426,
        -0.001214650459587574,
        -0.9994961023330688,
        0.011331725865602493,
        -0.02965758554637432
      ],
      "bottle_position_world": [
        -0.2012234628200531,
        0.10018710047006607,
        0.837717592716217
      ],
      "bottle_quaternion_world": [
        0.7284952402114868,
        3.655606633401476e-05,
        2.6305669962312095e-05,
        0.6850509643554688
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.25,
      "clearance_m": -0.00022453069686889648,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259866178035736,
      "action": [
        -0.15072403848171234,
        -0.07952342182397842,
        0.4958588778972626,
        -0.08297529071569443,
        0.20759502053260803,
        0.18961896002292633,
        -1.0
      ],
      "proprioception": [
        -3.2274701595306396,
        -0.46020856499671936,
        0.11498767882585526,
        -1.2535884380340576,
        -1.5681965351104736,
        -0.07622575014829636,
        0.007316841743886471,
        0.8586408495903015,
        0.036365631967782974,
        0.13301770389080048,
        -0.00960886012762785,
        -0.9999538660049438,
        -0.00045820698142051697,
        -0.9995582699775696,
        0.009617921896278858,
        -0.028125865384936333
      ],
      "bottle_position_world": [
        -0.20122911036014557,
        0.10018827021121979,
        0.8377473950386047
      ],
      "bottle_quaternion_world": [
        0.7284952402114868,
        -1.1683664524753112e-05,
        -7.519754490203923e-06,
        0.6850509643554688
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.3,
      "clearance_m": -0.00024139881134033203,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599451541900635,
      "action": [
        -0.1760169118642807,
        -0.0203012153506279,
        0.5315897464752197,
        -0.06802012771368027,
        0.1733250916004181,
        0.24106170237064362,
        -1.0
      ],
      "proprioception": [
        -3.2273879051208496,
        -0.4508686363697052,
        0.09204088151454926,
        -1.2386386394500732,
        -1.5688681602478027,
        -0.07827139645814896,
        0.006691277958452702,
        0.8581564426422119,
        0.03628868982195854,
        0.13432516157627106,
        -0.007500312756747007,
        -0.9999721646308899,
        0.00016365665942430496,
        -0.9996147751808167,
        0.007493230048567057,
        -0.026736075058579445
      ],
      "bottle_position_world": [
        -0.2012297809123993,
        0.10019046813249588,
        0.8377310037612915
      ],
      "bottle_quaternion_world": [
        0.7284952402114868,
        -3.3236294257221743e-05,
        2.797533852572087e-06,
        0.6850509643554688
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.3500000000000005,
      "clearance_m": -0.00024503469467163086,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260003864765167,
      "action": [
        -0.1726045459508896,
        -0.01750459522008896,
        0.5539566278457642,
        -0.0647069439291954,
        0.16108271479606628,
        0.2118680626153946,
        -1.0
      ],
      "proprioception": [
        -3.2272913455963135,
        -0.4414789378643036,
        0.06909839808940887,
        -1.2242045402526855,
        -1.5694139003753662,
        -0.07989350706338882,
        0.0062334262765944,
        0.8577180504798889,
        0.03625528886914253,
        0.13559982180595398,
        -0.005796096287667751,
        -0.9999831318855286,
        0.0006802333518862724,
        -0.9996502995491028,
        0.005776591133326292,
        -0.02581389620900154
      ],
      "bottle_position_world": [
        -0.20123054087162018,
        0.100196473300457,
        0.8377278447151184
      ],
      "bottle_quaternion_world": [
        0.7284952402114868,
        -8.337759936694056e-05,
        3.912675674655475e-05,
        0.6850509643554688
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.4,
      "clearance_m": -0.00023239850997924805,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425987184047699,
      "action": [
        -0.13534604012966156,
        -0.02519100159406662,
        0.48583027720451355,
        -0.04968252032995224,
        0.15801355242729187,
        0.1630925089120865,
        -1.0
      ],
      "proprioception": [
        -3.22725510597229,
        -0.43176788091659546,
        0.04619244486093521,
        -1.2104294300079346,
        -1.5697845220565796,
        -0.08104199171066284,
        0.005897230934351683,
        0.8573783040046692,
        0.036211125552654266,
        0.13660869002342224,
        -0.004620791878551245,
        -0.9999890327453613,
        0.0010321922600269318,
        -0.9996719360351562,
        0.004593285731971264,
        -0.025204915553331375
      ],
      "bottle_position_world": [
        -0.2012288123369217,
        0.100185826420784,
        0.8377406001091003
      ],
      "bottle_quaternion_world": [
        0.7284952402114868,
        8.285290277854074e-06,
        -2.2857715521240607e-05,
        0.6850509643554688
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.45,
      "clearance_m": -0.0002231001853942871,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598167061805725,
      "action": [
        -0.09727488458156586,
        -0.031728826463222504,
        0.4064764678478241,
        -0.027510784566402435,
        0.16244247555732727,
        0.09920121729373932,
        -1.0
      ],
      "proprioception": [
        -3.2272913455963135,
        -0.4217762053012848,
        0.02320302091538906,
        -1.1970512866973877,
        -1.5699785947799683,
        -0.08180459588766098,
        0.0056562586687505245,
        0.8570799231529236,
        0.0361512266099453,
        0.13741612434387207,
        -0.0038989163003861904,
        -0.9999919533729553,
        0.0012138579040765762,
        -0.9996849298477173,
        0.003867572406306863,
        -0.024809425696730614
      ],
      "bottle_position_world": [
        -0.20122641324996948,
        0.10018417984247208,
        0.8377485871315002
      ],
      "bottle_quaternion_world": [
        0.7284952402114868,
        3.7611167499562725e-05,
        -1.627667006687261e-05,
        0.6850509643554688
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.5,
      "clearance_m": -0.00025528669357299805,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599421739578247,
      "action": [
        -0.13232038915157318,
        0.023206420242786407,
        0.42093560099601746,
        -0.010345838963985443,
        0.1498638093471527,
        0.11899478733539581,
        -1.0
      ],
      "proprioception": [
        -3.2272801399230957,
        -0.41401877999305725,
        0.0038147023878991604,
        -1.184826374053955,
        -1.570062518119812,
        -0.08311720192432404,
        0.005432623904198408,
        0.8564576506614685,
        0.03619059920310974,
        0.13853676617145538,
        -0.002576919039711356,
        -0.9999960660934448,
        0.0012807566672563553,
        -0.9997038841247559,
        0.0025451406836509705,
        -0.02420893870294094
      ],
      "bottle_position_world": [
        -0.2012360394001007,
        0.10017766803503036,
        0.8377173542976379
      ],
      "bottle_quaternion_world": [
        0.7284952402114868,
        1.7764579752110876e-05,
        -0.0001350496750092134,
        0.6850509643554688
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.55,
      "clearance_m": -0.0002605319023132324,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259967505931854,
      "action": [
        0.13749535381793976,
        -0.22054773569107056,
        -0.00021376833319664001,
        0.06295207887887955,
        0.19391754269599915,
        -0.11204089224338531,
        -0.9291974306106567
      ],
      "proprioception": [
        -3.228424072265625,
        -0.41214004158973694,
        4.008558244095184e-05,
        -1.1831624507904053,
        -1.5692135095596313,
        -0.08294472843408585,
        0.03316769748926163,
        0.8566066026687622,
        0.03544049710035324,
        0.1385110318660736,
        -0.003872782690450549,
        -0.9999926686286926,
        0.0004497179761528969,
        -0.9996923804283142,
        0.0038605695590376854,
        -0.02451060712337494
      ],
      "bottle_position_world": [
        -0.20121818780899048,
        0.10019391030073166,
        0.8377122282981873
      ],
      "bottle_quaternion_world": [
        0.7284955382347107,
        2.2036616428522393e-05,
        0.00011258282029302791,
        0.6850506067276001
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.6000000000000005,
      "clearance_m": -0.00025838613510131836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600250244140625,
      "action": [
        0.29106998443603516,
        -0.33467021584510803,
        -0.5116090774536133,
        0.009093955159187317,
        0.18466494977474213,
        -0.2622450888156891,
        -0.49247288703918457
      ],
      "proprioception": [
        -3.229856014251709,
        -0.4096786081790924,
        0.00010832062253030017,
        -1.1854578256607056,
        -1.5691221952438354,
        -0.08103351294994354,
        0.22517001628875732,
        0.857404887676239,
        0.034173280000686646,
        0.1366187483072281,
        -0.007213049568235874,
        -0.9999739527702332,
        0.0002929987385869026,
        -0.9996790885925293,
        0.007203778717666864,
        -0.02428548038005829
      ],
      "bottle_position_world": [
        -0.20123083889484406,
        0.1001921147108078,
        0.8377139568328857
      ],
      "bottle_quaternion_world": [
        0.7284955978393555,
        -5.3845284128328785e-05,
        5.76756337977713e-06,
        0.6850505471229553
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.65,
      "clearance_m": -0.00025278329849243164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259985387325287,
      "action": [
        0.24071581661701202,
        -0.34382256865501404,
        -1.0,
        0.034530557692050934,
        0.22786548733711243,
        -0.20420777797698975,
        -0.0993734672665596
      ],
      "proprioception": [
        -3.2312779426574707,
        -0.4056355953216553,
        0.0006993758142925799,
        -1.187542200088501,
        -1.568921446800232,
        -0.07977129518985748,
        0.4481671154499054,
        0.8581467866897583,
        0.032948076725006104,
        0.13311468064785004,
        -0.009891997091472149,
        -0.9999513626098633,
        -0.00014089513570070267,
        -0.9997144937515259,
        0.009892702102661133,
        -0.0217607244849205
      ],
      "bottle_position_world": [
        -0.20123852789402008,
        0.10018294304609299,
        0.8377199769020081
      ],
      "bottle_quaternion_world": [
        0.7284955978393555,
        -3.893945540767163e-05,
        -0.00011657118011498824,
        0.6850504875183105
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.7,
      "clearance_m": -0.0002537965774536133,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599332332611084,
      "action": [
        0.21476338803768158,
        -0.26213788986206055,
        -1.0,
        0.0653250589966774,
        0.24806100130081177,
        -0.15843598544597626,
        0.06634976714849472
      ],
      "proprioception": [
        -3.232450008392334,
        -0.4016100764274597,
        0.00103416305501014,
        -1.1892110109329224,
        -1.5683740377426147,
        -0.0789542943239212,
        0.5826659202575684,
        0.8587892055511475,
        0.032041341066360474,
        0.1296979933977127,
        -0.011871042661368847,
        -0.9999294281005859,
        -0.0009165201336145401,
        -0.9997467398643494,
        0.01188636478036642,
        -0.01912151835858822
      ],
      "bottle_position_world": [
        -0.2012234330177307,
        0.10018802434206009,
        0.8377189040184021
      ],
      "bottle_quaternion_world": [
        0.7284955382347107,
        2.962813050544355e-05,
        3.284928243374452e-05,
        0.6850506067276001
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.75,
      "clearance_m": -0.00025779008865356445,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259999692440033,
      "action": [
        0.3138499855995178,
        -0.17188405990600586,
        -0.9557238817214966,
        0.04217100888490677,
        0.23609933257102966,
        -0.08399765193462372,
        0.27448686957359314
      ],
      "proprioception": [
        -3.233255386352539,
        -0.39688146114349365,
        0.0005184292676858604,
        -1.191490888595581,
        -1.567983627319336,
        -0.07863231003284454,
        0.6946537494659424,
        0.8597047924995422,
        0.03137790411710739,
        0.12613098323345184,
        -0.012993413023650646,
        -0.999914824962616,
        -0.0014636712148785591,
        -0.9997672438621521,
        0.013016686774790287,
        -0.017224714159965515
      ],
      "bottle_position_world": [
        -0.20122599601745605,
        0.10019320994615555,
        0.8377149701118469
      ],
      "bottle_quaternion_world": [
        0.7284955382347107,
        -2.774558925011661e-05,
        4.967406130162999e-05,
        0.6850506067276001
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.800000000000001,
      "clearance_m": -0.00025022029876708984,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425993949174881,
      "action": [
        0.29974377155303955,
        -0.10835643857717514,
        -0.9170012474060059,
        0.052197106182575226,
        0.20748808979988098,
        -0.007010668516159058,
        0.3910837471485138
      ],
      "proprioception": [
        -3.2338383197784424,
        -0.39236488938331604,
        0.0004575801140163094,
        -1.1941156387329102,
        -1.5674400329589844,
        -0.0790671706199646,
        0.7660480737686157,
        0.8606317639350891,
        0.03094572015106678,
        0.12256399542093277,
        -0.013136012479662895,
        -0.9999116659164429,
        -0.0021428875625133514,
        -0.9997941851615906,
        0.013167543336749077,
        -0.015443560667335987
      ],
      "bottle_position_world": [
        -0.20123086869716644,
        0.10018423199653625,
        0.8377222418785095
      ],
      "bottle_quaternion_world": [
        0.7284955382347107,
        5.362026513466844e-06,
        -4.985600389773026e-05,
        0.6850506067276001
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.8500000000000005,
      "clearance_m": -0.00025731325149536133,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259948134422302,
      "action": [
        0.308219850063324,
        -0.04948740452528,
        -0.838308572769165,
        0.041931189596652985,
        0.18161728978157043,
        0.0727500170469284,
        0.4648172855377197
      ],
      "proprioception": [
        -3.2341458797454834,
        -0.38804787397384644,
        0.00033046904718503356,
        -1.1969044208526611,
        -1.5669604539871216,
        -0.08025503903627396,
        0.8097379803657532,
        0.8615812063217163,
        0.03072875179350376,
        0.11920924484729767,
        -0.012252213433384895,
        -0.9999216198921204,
        -0.002714572474360466,
        -0.9998255372047424,
        0.012289254926145077,
        -0.014088050462305546
      ],
      "bottle_position_world": [
        -0.20122221112251282,
        0.10018923133611679,
        0.8377150893211365
      ],
      "bottle_quaternion_world": [
        0.7284955382347107,
        2.9048669603071176e-05,
        5.017865260015242e-05,
        0.6850505471229553
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.9,
      "clearance_m": -0.00025713443756103516,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259899854660034,
      "action": [
        0.29756611585617065,
        -0.012166358530521393,
        -0.7828023433685303,
        0.015048697590827942,
        0.15820610523223877,
        0.14141282439231873,
        0.4860513508319855
      ],
      "proprioception": [
        -3.234175682067871,
        -0.384320467710495,
        0.00024002995633054525,
        -1.199643611907959,
        -1.566794514656067,
        -0.08196843415498734,
        0.8299569487571716,
        0.8624657392501831,
        0.030667783692479134,
        0.11633209884166718,
        -0.010569140315055847,
        -0.9999399185180664,
        -0.002929619513452053,
        -0.9998565912246704,
        0.01060695294290781,
        -0.013211645185947418
      ],
      "bottle_position_world": [
        -0.2012219876050949,
        0.10018283873796463,
        0.8377156257629395
      ],
      "bottle_quaternion_world": [
        0.7284955382347107,
        7.755033584544435e-05,
        6.593010311917169e-06,
        0.6850505471229553
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 4.95,
      "clearance_m": -0.0002570152282714844,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599937319755554,
      "action": [
        0.2825496196746826,
        6.408244371414185e-05,
        -0.7314943075180054,
        -0.030175931751728058,
        0.14053574204444885,
        0.19063244760036469,
        0.415812611579895
      ],
      "proprioception": [
        -3.233976125717163,
        -0.3806898593902588,
        0.0002059058315353468,
        -1.2024081945419312,
        -1.5671645402908325,
        -0.08411580324172974,
        0.8209307789802551,
        0.8633163571357727,
        0.030656352639198303,
        0.11350950598716736,
        -0.008229520171880722,
        -0.9999628067016602,
        -0.0026026181876659393,
        -0.999889612197876,
        0.008261065930128098,
        -0.012357920408248901
      ],
      "bottle_position_world": [
        -0.201227068901062,
        0.10019169747829437,
        0.8377155661582947
      ],
      "bottle_quaternion_world": [
        0.7284956574440002,
        -2.4056465917965397e-05,
        3.1382794986711815e-05,
        0.6850504875183105
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.0,
      "clearance_m": -0.0002518296241760254,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600125074386597,
      "action": [
        0.26141852140426636,
        -0.034112684428691864,
        -0.6409986019134521,
        -0.07446658611297607,
        0.11206601560115814,
        0.2031276375055313,
        0.23532214760780334
      ],
      "proprioception": [
        -3.233731269836426,
        -0.3774038851261139,
        0.00015828678442630917,
        -1.2051019668579102,
        -1.5680769681930542,
        -0.08643998205661774,
        0.7682474851608276,
        0.8641162514686584,
        0.03053615242242813,
        0.11097768694162369,
        -0.0056729987263679504,
        -0.9999826550483704,
        -0.0017119953408837318,
        -0.9999148845672607,
        0.005692685954272747,
        -0.01174267940223217
      ],
      "bottle_position_world": [
        -0.20123566687107086,
        0.10018972307443619,
        0.8377208709716797
      ],
      "bottle_quaternion_world": [
        0.7284956574440002,
        -7.017292955424637e-05,
        -4.713361704489216e-05,
        0.6850504875183105
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.050000000000001,
      "clearance_m": -0.00024950504302978516,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259982407093048,
      "action": [
        0.250924676656723,
        -0.15454697608947754,
        -0.41780927777290344,
        -0.06764587014913559,
        0.09871236234903336,
        0.14035816490650177,
        -0.5899612903594971
      ],
      "proprioception": [
        -3.234053373336792,
        -0.37500032782554626,
        1.7161573850899003e-05,
        -1.2074551582336426,
        -1.5688563585281372,
        -0.08856921643018723,
        0.4753495752811432,
        0.8648293614387512,
        0.029973162338137627,
        0.10921076685190201,
        -0.003874867921695113,
        -0.9999923706054688,
        -0.0009026620537042618,
        -0.9999234676361084,
        0.00388519698753953,
        -0.011767646297812462
      ],
      "bottle_position_world": [
        -0.2012322098016739,
        0.10018964856863022,
        0.8377231955528259
      ],
      "bottle_quaternion_world": [
        0.7284956574440002,
        -4.490511491894722e-05,
        -2.163081990147475e-05,
        0.6850504875183105
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.1000000000000005,
      "clearance_m": -0.00022286176681518555,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259859323501587,
      "action": [
        -0.0333697646856308,
        -0.18169882893562317,
        0.6475164890289307,
        0.06120450049638748,
        0.05431816726922989,
        -0.11640019714832306,
        -0.47649121284484863
      ],
      "proprioception": [
        -3.235130548477173,
        -0.37705159187316895,
        -0.00024136558931786567,
        -1.205908179283142,
        -1.567986249923706,
        -0.08827471733093262,
        0.3880065381526947,
        0.8644458651542664,
        0.0293255764991045,
        0.11093951016664505,
        -0.005234972108155489,
        -0.9999849796295166,
        -0.0017054127529263496,
        -0.9999069571495056,
        0.0052560484036803246,
        -0.012603992596268654
      ],
      "bottle_position_world": [
        -0.20122799277305603,
        0.1001896932721138,
        0.8377501964569092
      ],
      "bottle_quaternion_world": [
        0.7284956574440002,
        -1.5097511095518712e-05,
        1.0615303835947998e-05,
        0.6850504875183105
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.15,
      "clearance_m": -0.00021648406982421875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259873628616333,
      "action": [
        0.08594553172588348,
        -0.2809735834598541,
        0.20423704385757446,
        0.017399080097675323,
        0.12839996814727783,
        -0.28242582082748413,
        -0.7306176424026489
      ],
      "proprioception": [
        -3.2364232540130615,
        -0.3782610595226288,
        -4.564415576169267e-05,
        -1.206072211265564,
        -1.567683219909668,
        -0.08606049418449402,
        0.2583310604095459,
        0.8644837737083435,
        0.028293462470173836,
        0.11190302670001984,
        -0.008735589683055878,
        -0.9999603033065796,
        -0.001934063620865345,
        -0.9998666048049927,
        0.008761439472436905,
        -0.01379951648414135
      ],
      "bottle_position_world": [
        -0.20123085379600525,
        0.1001923531293869,
        0.8377562165260315
      ],
      "bottle_quaternion_world": [
        0.7284956574440002,
        -5.547630280489102e-05,
        7.518567144870758e-06,
        0.6850504875183105
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.2,
      "clearance_m": -0.0002453923225402832,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259924292564392,
      "action": [
        0.142804816365242,
        -0.29428228735923767,
        0.23896682262420654,
        0.11094901710748672,
        0.14182105660438538,
        -0.3937109708786011,
        -0.7243101596832275
      ],
      "proprioception": [
        -3.2382001876831055,
        -0.37899890542030334,
        -9.876234253169969e-05,
        -1.206284761428833,
        -1.5661906003952026,
        -0.0828106552362442,
        0.2119329422712326,
        0.8646220564842224,
        0.027169043198227882,
        0.1125832051038742,
        -0.013737473636865616,
        -0.9999001026153564,
        -0.0033830367028713226,
        -0.9997939467430115,
        0.013786463998258114,
        -0.01491632778197527
      ],
      "bottle_position_world": [
        -0.20123222470283508,
        0.10018321126699448,
        0.8377266526222229
      ],
      "bottle_quaternion_world": [
        0.7284956574440002,
        3.295782562418026e-06,
        -6.678789941361174e-05,
        0.6850504875183105
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.25,
      "clearance_m": -0.00024765729904174805,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259973466396332,
      "action": [
        0.1673046499490738,
        -0.30817702412605286,
        -0.025341477245092392,
        0.05672357231378555,
        0.1730676293373108,
        -0.32777488231658936,
        -0.8413028120994568
      ],
      "proprioception": [
        -3.239824056625366,
        -0.37879180908203125,
        -6.551077603944577e-06,
        -1.2071127891540527,
        -1.5654304027557373,
        -0.08014451712369919,
        0.14787615835666656,
        0.8649083375930786,
        0.025955159217119217,
        0.11244584619998932,
        -0.018013130873441696,
        -0.9998294115066528,
        -0.004138078540563583,
        -0.9997166395187378,
        0.018075207248330116,
        -0.015495466068387032
      ],
      "bottle_position_world": [
        -0.20123405754566193,
        0.10018760710954666,
        0.8377248644828796
      ],
      "bottle_quaternion_world": [
        0.7284956574440002,
        -4.213037027511746e-05,
        -4.9660131480777636e-05,
        0.6850504875183105
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.300000000000001,
      "clearance_m": -0.00025641918182373047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259997010231018,
      "action": [
        0.15345050394535065,
        -0.3247532844543457,
        0.1199747622013092,
        0.061730243265628815,
        0.18797916173934937,
        -0.29548394680023193,
        -0.8371474742889404
      ],
      "proprioception": [
        -3.2414326667785645,
        -0.3789411187171936,
        -6.279710942180827e-05,
        -1.207428216934204,
        -1.5646045207977295,
        -0.07809329032897949,
        0.12595532834529877,
        0.8650635480880737,
        0.024785121902823448,
        0.1126324012875557,
        -0.021656520664691925,
        -0.9997533559799194,
        -0.004952291026711464,
        -0.9996347427368164,
        0.02173352614045143,
        -0.016070403158664703
      ],
      "bottle_position_world": [
        -0.201232448220253,
        0.10018765926361084,
        0.837715744972229
      ],
      "bottle_quaternion_world": [
        0.7284956574440002,
        -3.090132668148726e-05,
        -3.7954840081511065e-05,
        0.6850504875183105
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.3500000000000005,
      "clearance_m": -0.00025904178619384766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599621415138245,
      "action": [
        0.15842200815677643,
        -0.3550056517124176,
        -0.02022954449057579,
        -0.02054160088300705,
        0.22100895643234253,
        -0.15884703397750854,
        -0.8510487079620361
      ],
      "proprioception": [
        -3.2428946495056152,
        -0.3787311911582947,
        8.92545358510688e-07,
        -1.208046793937683,
        -1.5647987127304077,
        -0.07747307419776917,
        0.11280493438243866,
        0.8652613162994385,
        0.02344919741153717,
        0.11248351633548737,
        -0.02373952977359295,
        -0.9997069835662842,
        -0.004742256831377745,
        -0.9995821118354797,
        0.023814329877495766,
        -0.01639612391591072
      ],
      "bottle_position_world": [
        -0.201222762465477,
        0.10018977522850037,
        0.8377133011817932
      ],
      "bottle_quaternion_world": [
        0.7284956574440002,
        2.1454066882142797e-05,
        4.953885218128562e-05,
        0.6850504279136658
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.4,
      "clearance_m": -0.00025731325149536133,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259922504425049,
      "action": [
        0.16707219183444977,
        -0.40047985315322876,
        -0.006374981254339218,
        -0.06329550594091415,
        0.25239744782447815,
        -0.04626743495464325,
        -0.8666854500770569
      ],
      "proprioception": [
        -3.2443881034851074,
        -0.3784008026123047,
        -1.3103260243951809e-05,
        -1.2085975408554077,
        -1.5655227899551392,
        -0.07830432057380676,
        0.10159587860107422,
        0.8654369115829468,
        0.02193814516067505,
        0.11225990951061249,
        -0.024412697181105614,
        -0.999694287776947,
        -0.003988282755017281,
        -0.9995632171630859,
        0.02447560243308544,
        -0.016577277332544327
      ],
      "bottle_position_world": [
        -0.20121918618679047,
        0.10018794983625412,
        0.837714672088623
      ],
      "bottle_quaternion_world": [
        0.7284958958625793,
        6.082481559133157e-05,
        6.462995224865153e-05,
        0.6850501894950867
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.45,
      "clearance_m": -0.0002582073211669922,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259921610355377,
      "action": [
        0.1538913995027542,
        -0.43270933628082275,
        0.00035217776894569397,
        -0.1000157818198204,
        0.2658494710922241,
        0.04603375494480133,
        -0.8602009415626526
      ],
      "proprioception": [
        -3.245903253555298,
        -0.37814003229141235,
        -5.61652905162191e-06,
        -1.2090469598770142,
        -1.566730260848999,
        -0.08033444732427597,
        0.09953421354293823,
        0.8655635118484497,
        0.020276473835110664,
        0.11207551509141922,
        -0.023917807266116142,
        -0.9997103214263916,
        -0.0027366885915398598,
        -0.9995741248130798,
        0.023960161954164505,
        -0.016669053584337234
      ],
      "bottle_position_world": [
        -0.20122382044792175,
        0.10018375515937805,
        0.837714433670044
      ],
      "bottle_quaternion_world": [
        0.7284958958625793,
        5.854245682712644e-05,
        -3.165213513511844e-07,
        0.6850501894950867
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.5,
      "clearance_m": -0.00024318695068359375,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259932339191437,
      "action": [
        0.14237786829471588,
        -0.4524112045764923,
        -0.011522915214300156,
        -0.12430264800786972,
        0.2735835909843445,
        0.12025590240955353,
        -0.8724314570426941
      ],
      "proprioception": [
        -3.2472922801971436,
        -0.3778694272041321,
        1.3592593859357294e-06,
        -1.209399938583374,
        -1.5681707859039307,
        -0.0831492692232132,
        0.09449560195207596,
        0.8656512498855591,
        0.01866161823272705,
        0.11187358945608139,
        -0.02251647412776947,
        -0.9997459053993225,
        -0.0012483596801757812,
        -0.9996078610420227,
        0.022534115239977837,
        -0.016632070764899254
      ],
      "bottle_position_world": [
        -0.20122507214546204,
        0.10019224137067795,
        0.8377301692962646
      ],
      "bottle_quaternion_world": [
        0.7284958958625793,
        -1.2763824088324327e-05,
        5.090009290142916e-05,
        0.6850501894950867
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.550000000000001,
      "clearance_m": -0.00024187564849853516,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598757147789,
      "action": [
        0.12245906889438629,
        -0.46746280789375305,
        0.02224055305123329,
        -0.12671580910682678,
        0.27875038981437683,
        0.14550746977329254,
        -0.869124710559845
      ],
      "proprioception": [
        -3.2487924098968506,
        -0.37772858142852783,
        -3.5888834304387274e-07,
        -1.2095221281051636,
        -1.5696886777877808,
        -0.08640823513269424,
        0.09316091239452362,
        0.8656700253486633,
        0.01693575829267502,
        0.11176465451717377,
        -0.020783616229891777,
        -0.9997841715812683,
        0.0003167027607560158,
        -0.99964839220047,
        0.02077554725110531,
        -0.016488101333379745
      ],
      "bottle_position_world": [
        -0.20123131573200226,
        0.10017918050289154,
        0.8377307653427124
      ],
      "bottle_quaternion_world": [
        0.7284958958625793,
        4.1478677303530276e-05,
        -8.830375008983538e-05,
        0.6850501894950867
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.6000000000000005,
      "clearance_m": -0.00024777650833129883,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259937107563019,
      "action": [
        0.11564715206623077,
        -0.46705928444862366,
        0.028307411819696426,
        -0.11329784244298935,
        0.27588123083114624,
        0.150741845369339,
        -0.879138171672821
      ],
      "proprioception": [
        -3.250373125076294,
        -0.3776469826698303,
        2.902377673308365e-06,
        -1.2095842361450195,
        -1.5710722208023071,
        -0.08984039723873138,
        0.08937987685203552,
        0.86567223072052,
        0.015179911628365517,
        0.11169907450675964,
        -0.01895538903772831,
        -0.9998189210891724,
        0.0017488347366452217,
        -0.9996873736381531,
        0.018924299627542496,
        -0.01634012535214424
      ],
      "bottle_position_world": [
        -0.20123597979545593,
        0.1001809611916542,
        0.837725043296814
      ],
      "bottle_quaternion_world": [
        0.7284958958625793,
        -4.787925718119368e-06,
        -0.00011077070666942745,
        0.6850501894950867
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.65,
      "clearance_m": -0.00025731325149536133,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599183320999146,
      "action": [
        0.10889334976673126,
        -0.4561430513858795,
        0.07923492789268494,
        -0.08884754031896591,
        0.26637405157089233,
        0.12330247461795807,
        -0.8872619867324829
      ],
      "proprioception": [
        -3.252045154571533,
        -0.37777358293533325,
        -1.0687112080631778e-05,
        -1.2095259428024292,
        -1.5721604824066162,
        -0.09303015470504761,
        0.08459701389074326,
        0.8656455874443054,
        0.013430902734398842,
        0.11180875450372696,
        -0.017456302419304848,
        -0.9998438954353333,
        0.0028921058401465416,
        -0.9997157454490662,
        0.017406845465302467,
        -0.01631506159901619
      ],
      "bottle_position_world": [
        -0.20120318233966827,
        0.10020161420106888,
        0.8377156257629395
      ],
      "bottle_quaternion_world": [
        0.7284958958625793,
        7.04431367921643e-05,
        0.00027822493575513363,
        0.6850501894950867
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.7,
      "clearance_m": -0.0002588033676147461,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259965121746063,
      "action": [
        0.1102762371301651,
        -0.4376367926597595,
        0.1134469211101532,
        -0.05966176837682724,
        0.2547488510608673,
        0.07772363722324371,
        -0.8923115134239197
      ],
      "proprioception": [
        -3.253638744354248,
        -0.3780428469181061,
        -2.1521169401239604e-05,
        -1.20946204662323,
        -1.5728402137756348,
        -0.09556565433740616,
        0.08071733266115189,
        0.8656222224235535,
        0.011864425614476204,
        0.11203889548778534,
        -0.01652665063738823,
        -0.9998570680618286,
        0.0036306027323007584,
        -0.9997292160987854,
        0.01646476238965988,
        -0.016458045691251755
      ],
      "bottle_position_world": [
        -0.20121300220489502,
        0.10019902139902115,
        0.8377141356468201
      ],
      "bottle_quaternion_world": [
        0.7284958958625793,
        2.1327276044758037e-05,
        0.00018853976507671177,
        0.6850501894950867
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.75,
      "clearance_m": -0.0002536177635192871,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599034309387207,
      "action": [
        0.1126488596200943,
        -0.4239194393157959,
        0.12552908062934875,
        -0.033863507211208344,
        0.2485351264476776,
        0.019923925399780273,
        -0.8893457651138306
      ],
      "proprioception": [
        -3.255340337753296,
        -0.3783872127532959,
        -2.3225780751090497e-05,
        -1.2094104290008545,
        -1.57322359085083,
        -0.09747367352247238,
        0.07971904426813126,
        0.8656070828437805,
        0.010287253186106682,
        0.11233058571815491,
        -0.016327835619449615,
        -0.999858558177948,
        0.004072162322700024,
        -0.9997283816337585,
        0.016257645562291145,
        -0.016706770285964012
      ],
      "bottle_position_world": [
        -0.20121406018733978,
        0.10019204020500183,
        0.8377193212509155
      ],
      "bottle_quaternion_world": [
        0.7284958958625793,
        6.626053800573573e-05,
        0.00013115657202433795,
        0.6850501894950867
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.800000000000001,
      "clearance_m": -0.0002582073211669922,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598676681518555,
      "action": [
        0.12833912670612335,
        -0.4019736349582672,
        0.12037971615791321,
        -0.008223079144954681,
        0.23702102899551392,
        -0.02699969708919525,
        -0.8976818919181824
      ],
      "proprioception": [
        -3.2570793628692627,
        -0.3787001967430115,
        -2.8170859877718613e-05,
        -1.2095235586166382,
        -1.5732866525650024,
        -0.09881574660539627,
        0.07670970261096954,
        0.8656463623046875,
        0.008761553093791008,
        0.11261284351348877,
        -0.016727713868021965,
        -0.9998515248298645,
        0.00419993232935667,
        -0.9997149109840393,
        0.01665347069501877,
        -0.01712397113442421
      ],
      "bottle_position_world": [
        -0.20121710002422333,
        0.10018190741539001,
        0.837714433670044
      ],
      "bottle_quaternion_world": [
        0.7284958958625793,
        0.00011989121412625536,
        3.6515968531602994e-05,
        0.6850501894950867
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.8500000000000005,
      "clearance_m": -0.0002593398094177246,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599228024482727,
      "action": [
        0.13798506557941437,
        -0.3769872784614563,
        0.14453473687171936,
        0.014179624617099762,
        0.22374245524406433,
        -0.07226185500621796,
        -0.8987876176834106
      ],
      "proprioception": [
        -3.2588348388671875,
        -0.3790968060493469,
        -3.918795118806884e-05,
        -1.2097246646881104,
        -1.5730549097061157,
        -0.09957530349493027,
        0.07506076991558075,
        0.865715742111206,
        0.0073008667677640915,
        0.11297868192195892,
        -0.017722107470035553,
        -0.9998350739479065,
        0.004042701795697212,
        -0.9996869564056396,
        0.01764768734574318,
        -0.017749398946762085
      ],
      "bottle_position_world": [
        -0.201216921210289,
        0.10018955171108246,
        0.837713897228241
      ],
      "bottle_quaternion_world": [
        0.7284958958625793,
        6.440894503612071e-05,
        9.13987314561382e-05,
        0.6850501894950867
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.9,
      "clearance_m": -0.00024515390396118164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599186301231384,
      "action": [
        0.1467350274324417,
        -0.3516419529914856,
        0.14675071835517883,
        0.02600482851266861,
        0.21346792578697205,
        -0.09645865857601166,
        -0.9010382890701294
      ],
      "proprioception": [
        -3.2604095935821533,
        -0.3794722557067871,
        -4.9321675760438666e-05,
        -1.2100175619125366,
        -1.5726820230484009,
        -0.09994855523109436,
        0.07351955771446228,
        0.8658120036125183,
        0.006032733246684074,
        0.11333483457565308,
        -0.018919263035058975,
        -0.9998142123222351,
        0.00374605692923069,
        -0.9996521472930908,
        0.018847009167075157,
        -0.01846005767583847
      ],
      "bottle_position_world": [
        -0.20122553408145905,
        0.100188247859478,
        0.8377269506454468
      ],
      "bottle_quaternion_world": [
        0.7284958958625793,
        1.3778748325421475e-05,
        1.7909262169268914e-05,
        0.6850501894950867
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 5.95,
      "clearance_m": -0.00024878978729248047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599257826805115,
      "action": [
        0.14979489147663116,
        -0.33519798517227173,
        0.14102306962013245,
        0.02540961652994156,
        0.20750239491462708,
        -0.10141114890575409,
        -0.892346203327179
      ],
      "proprioception": [
        -3.2619686126708984,
        -0.3798390328884125,
        -4.8744637751951814e-05,
        -1.2103917598724365,
        -1.5723119974136353,
        -0.10018599033355713,
        0.07388059794902802,
        0.8659272789955139,
        0.004774336237460375,
        0.11368688941001892,
        -0.0202364269644022,
        -0.999789297580719,
        0.0034564929082989693,
        -0.9996118545532227,
        0.02016632631421089,
        -0.019232697784900665
      ],
      "bottle_position_world": [
        -0.20123237371444702,
        0.10018183290958405,
        0.8377237915992737
      ],
      "bottle_quaternion_world": [
        0.7284958958625793,
        1.3347817002795637e-05,
        -7.898465264588594e-05,
        0.6850501894950867
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.0,
      "clearance_m": -0.0002568364143371582,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259960353374481,
      "action": [
        0.15544982254505157,
        -0.3210183084011078,
        0.13036313652992249,
        0.019979991018772125,
        0.2049766182899475,
        -0.0820782333612442,
        -0.9018903374671936
      ],
      "proprioception": [
        -3.2634644508361816,
        -0.3801566958427429,
        -4.7754172555869445e-05,
        -1.2108604907989502,
        -1.572001338005066,
        -0.10058193653821945,
        0.07271376997232437,
        0.8660657405853271,
        0.003550682682543993,
        0.11400608718395233,
        -0.021332677453756332,
        -0.9997673630714417,
        0.003233722411096096,
        -0.9995731711387634,
        0.02126368135213852,
        -0.020043719559907913
      ],
      "bottle_position_world": [
        -0.20121754705905914,
        0.10019522905349731,
        0.8377156257629395
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        1.7136746464530006e-05,
        0.00012631686695385724,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.050000000000001,
      "clearance_m": -0.0002484917640686035,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259951114654541,
      "action": [
        0.15439285337924957,
        -0.3106502294540405,
        0.14532962441444397,
        0.013102985918521881,
        0.20196771621704102,
        -0.05753682553768158,
        -0.9031698107719421
      ],
      "proprioception": [
        -3.2649126052856445,
        -0.3805318772792816,
        -5.216383215156384e-05,
        -1.2113338708877563,
        -1.5717664957046509,
        -0.10122803598642349,
        0.07163315266370773,
        0.8662002086639404,
        0.0023464947007596493,
        0.11437823623418808,
        -0.022132670506834984,
        -0.9997503161430359,
        0.003099283203482628,
        -0.9995378851890564,
        0.02206312119960785,
        -0.02091393619775772
      ],
      "bottle_position_world": [
        -0.2012297809123993,
        0.1001875251531601,
        0.8377236723899841
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        -1.0533089152886532e-05,
        -1.9919456462957896e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.1000000000000005,
      "clearance_m": -0.0002512335777282715,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599958181381226,
      "action": [
        0.15263600647449493,
        -0.30251532793045044,
        0.14829406142234802,
        0.0026104822754859924,
        0.2007565200328827,
        -0.024443015456199646,
        -0.9056325554847717
      ],
      "proprioception": [
        -3.2661852836608887,
        -0.380895733833313,
        -5.9423877246445045e-05,
        -1.2117869853973389,
        -1.5716562271118164,
        -0.1021692231297493,
        0.07030325382947922,
        0.8663231134414673,
        0.001260274788364768,
        0.11473959684371948,
        -0.022464506328105927,
        -0.9997431039810181,
        0.0030932994559407234,
        -0.9995130300521851,
        0.022392041981220245,
        -0.021741967648267746
      ],
      "bottle_position_world": [
        -0.2012283354997635,
        0.10019431263208389,
        0.83772212266922
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        -5.206515561440028e-05,
        3.814981391769834e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.15,
      "clearance_m": -0.000247955322265625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259900450706482,
      "action": [
        0.14793552458286285,
        -0.30139827728271484,
        0.14391741156578064,
        -0.010455720126628876,
        0.20282241702079773,
        0.008335486054420471,
        -0.8988842368125916
      ],
      "proprioception": [
        -3.2674472332000732,
        -0.38126835227012634,
        -5.407025673775934e-05,
        -1.2122392654418945,
        -1.5717101097106934,
        -0.10348298400640488,
        0.07042158395051956,
        0.866436779499054,
        0.00013746973127126694,
        0.11510300636291504,
        -0.02241675555706024,
        -0.999743640422821,
        0.003259953111410141,
        -0.999496340751648,
        0.022337667644023895,
        -0.022547217085957527
      ],
      "bottle_position_world": [
        -0.20122751593589783,
        0.10018272697925568,
        0.8377244472503662
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        4.090766014996916e-05,
        -3.71929127140902e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.2,
      "clearance_m": -0.00025010108947753906,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599138617515564,
      "action": [
        0.14762480556964874,
        -0.29721367359161377,
        0.13464167714118958,
        -0.019623659551143646,
        0.20413661003112793,
        0.0407395213842392,
        -0.9075043797492981
      ],
      "proprioception": [
        -3.268672466278076,
        -0.3816053569316864,
        -5.1022863772232085e-05,
        -1.2127182483673096,
        -1.571879506111145,
        -0.10517451912164688,
        0.06913275271654129,
        0.8665533661842346,
        -0.0009870306821539998,
        0.11543987691402435,
        -0.0219577569514513,
        -0.9997528791427612,
        0.003551911562681198,
        -0.9994887709617615,
        0.02186904102563858,
        -0.02333206683397293
      ],
      "bottle_position_world": [
        -0.20122753083705902,
        0.10018354654312134,
        0.8377224206924438
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        3.468970680842176e-05,
        -3.16106561513152e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.25,
      "clearance_m": -0.00024944543838500977,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598459124565125,
      "action": [
        0.14457900822162628,
        -0.2905978262424469,
        0.14699670672416687,
        -0.023666344583034515,
        0.20174452662467957,
        0.058952897787094116,
        -0.9101338982582092
      ],
      "proprioception": [
        -3.269874095916748,
        -0.3819948136806488,
        -5.3636358643416315e-05,
        -1.2131779193878174,
        -1.5720981359481812,
        -0.10708468407392502,
        0.06756849586963654,
        0.8666605949401855,
        -0.002104060724377632,
        0.11582278460264206,
        -0.02125806361436844,
        -0.9997665286064148,
        0.0039048045873641968,
        -0.9994845390319824,
        0.021157728508114815,
        -0.024148741737008095
      ],
      "bottle_position_world": [
        -0.2012227177619934,
        0.10017862170934677,
        0.8377234935760498
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        0.00010534155444474891,
        -3.0419050744967535e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.300000000000001,
      "clearance_m": -0.0002493858337402344,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259941577911377,
      "action": [
        0.1439380794763565,
        -0.2814142405986786,
        0.1505652368068695,
        -0.024706386029720306,
        0.19824546575546265,
        0.06725123524665833,
        -0.9125859141349792
      ],
      "proprioception": [
        -3.2709498405456543,
        -0.3823714852333069,
        -6.164232763694599e-05,
        -1.2136187553405762,
        -1.5723105669021606,
        -0.10896627604961395,
        0.06596288830041885,
        0.8667625784873962,
        -0.0031101610511541367,
        0.11619524657726288,
        -0.020461488515138626,
        -0.9997816681861877,
        0.004250938072800636,
        -0.9994820356369019,
        0.020349306985735893,
        -0.02493852749466896
      ],
      "bottle_position_world": [
        -0.20123611390590668,
        0.10018051415681839,
        0.8377231955528259
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        -3.1066429073689505e-06,
        -0.00011767455725930631,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.3500000000000005,
      "clearance_m": -0.00025391578674316406,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598429322242737,
      "action": [
        0.1420489102602005,
        -0.2764502167701721,
        0.1473408341407776,
        -0.024619780480861664,
        0.19795045256614685,
        0.06391115486621857,
        -0.9077524542808533
      ],
      "proprioception": [
        -3.272043228149414,
        -0.3827613294124603,
        -5.736535968026146e-05,
        -1.2140707969665527,
        -1.5725349187850952,
        -0.11082445830106735,
        0.06572869420051575,
        0.8668639063835144,
        -0.004135205876082182,
        0.11657432466745377,
        -0.01970675401389599,
        -0.9997954368591309,
        0.004612871445715427,
        -0.9994771480560303,
        0.019581710919737816,
        -0.0257379449903965
      ],
      "bottle_position_world": [
        -0.20122326910495758,
        0.1001751646399498,
        0.8377185463905334
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        0.00012766402505803853,
        -5.859319935552776e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.4,
      "clearance_m": -0.000258028507232666,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600300908088684,
      "action": [
        0.14889802038669586,
        -0.26681309938430786,
        0.135715514421463,
        -0.019471608102321625,
        0.19386477768421173,
        0.056637272238731384,
        -0.914789617061615
      ],
      "proprioception": [
        -3.273129463195801,
        -0.38309869170188904,
        -5.601332668447867e-05,
        -1.2146145105361938,
        -1.5726985931396484,
        -0.1125945970416069,
        0.06437955796718597,
        0.866993248462677,
        -0.005140774883329868,
        0.1169196367263794,
        -0.01903197169303894,
        -0.9998070597648621,
        0.004919819533824921,
        -0.9994682669639587,
        0.018894683569669724,
        -0.026585116982460022
      ],
      "bottle_position_world": [
        -0.20123536884784698,
        0.10018930584192276,
        0.837714672088623
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        -6.276549538597465e-05,
        -4.894040830549784e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.45,
      "clearance_m": -0.00024825334548950195,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259941279888153,
      "action": [
        0.15346629917621613,
        -0.2555452585220337,
        0.14729031920433044,
        -0.011298500001430511,
        0.18689872324466705,
        0.03626047074794769,
        -0.9172959923744202
      ],
      "proprioception": [
        -3.274219512939453,
        -0.3834734857082367,
        -6.133618444437161e-05,
        -1.2152092456817627,
        -1.572756290435791,
        -0.11411143094301224,
        0.06283972412347794,
        0.8671390414237976,
        -0.0061223749071359634,
        0.11730529367923737,
        -0.018612127751111984,
        -0.9998138546943665,
        0.005128373391926289,
        -0.9994503259658813,
        0.01846407540142536,
        -0.027539296075701714
      ],
      "bottle_position_world": [
        -0.20122526586055756,
        0.10019045323133469,
        0.837724506855011
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        -7.467882596756681e-07,
        3.395213570911437e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.5,
      "clearance_m": -0.00024574995040893555,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599108815193176,
      "action": [
        0.15958280861377716,
        -0.24300038814544678,
        0.14910492300987244,
        -0.003128252923488617,
        0.1800367832183838,
        0.012271866202354431,
        -0.9184384346008301
      ],
      "proprioception": [
        -3.275209665298462,
        -0.3838210105895996,
        -7.254334195749834e-05,
        -1.2158372402191162,
        -1.5727087259292603,
        -0.11524748802185059,
        0.06169210374355316,
        0.8672988414764404,
        -0.006989897694438696,
        0.11767396330833435,
        -0.018470369279384613,
        -0.9998158812522888,
        0.005225840024650097,
        -0.9994256496429443,
        0.01831408217549324,
        -0.028518669307231903
      ],
      "bottle_position_world": [
        -0.2012225240468979,
        0.10019005835056305,
        0.8377275466918945
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        2.1369580281316303e-05,
        5.197318023419939e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.550000000000001,
      "clearance_m": -0.00022995471954345703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598506808280945,
      "action": [
        0.164167121052742,
        -0.2348315417766571,
        0.14210402965545654,
        0.002002514898777008,
        0.1762142777442932,
        -0.010761722922325134,
        -0.9121858477592468
      ],
      "proprioception": [
        -3.276219606399536,
        -0.3841572105884552,
        -6.981028127484024e-05,
        -1.216547966003418,
        -1.5726039409637451,
        -0.11609775573015213,
        0.061786726117134094,
        0.8674807548522949,
        -0.007861685939133167,
        0.11803500354290009,
        -0.018632763996720314,
        -0.999812662601471,
        0.005266807973384857,
        -0.9993923902511597,
        0.018469177186489105,
        -0.02956310100853443
      ],
      "bottle_position_world": [
        -0.2012280374765396,
        0.10018401592969894,
        0.8377416729927063
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        2.783450690913014e-05,
        -3.195711178705096e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.6000000000000005,
      "clearance_m": -0.0002529621124267578,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600008845329285,
      "action": [
        0.1725388914346695,
        -0.22424209117889404,
        0.13000193238258362,
        0.0064956918358802795,
        0.1719079613685608,
        -0.025062963366508484,
        -0.9184669256210327
      ],
      "proprioception": [
        -3.2772133350372314,
        -0.3844338059425354,
        -6.870647484902292e-05,
        -1.217370629310608,
        -1.5724420547485352,
        -0.11674391478300095,
        0.061137765645980835,
        0.8676966428756714,
        -0.00870862603187561,
        0.11835750192403793,
        -0.018981635570526123,
        -0.9998062252998352,
        0.005252973176538944,
        -0.999352753162384,
        0.018811868503689766,
        -0.030668657273054123
      ],
      "bottle_position_world": [
        -0.20122233033180237,
        0.10019873082637787,
        0.8377193212509155
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        -4.2735784518299624e-05,
        0.00011495390208438039,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.65,
      "clearance_m": -0.00024706125259399414,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259965121746063,
      "action": [
        0.17653031647205353,
        -0.2136417031288147,
        0.13509604334831238,
        0.010009028017520905,
        0.16673094034194946,
        -0.03752894699573517,
        -0.9196025729179382
      ],
      "proprioception": [
        -3.278191089630127,
        -0.38472193479537964,
        -7.12830078555271e-05,
        -1.2182507514953613,
        -1.5722312927246094,
        -0.11720389127731323,
        0.06031842529773712,
        0.8679294586181641,
        -0.009530634619295597,
        0.11869765818119049,
        -0.019499028101563454,
        -0.9997965097427368,
        0.005194663070142269,
        -0.9993058443069458,
        0.019323933869600296,
        -0.031853098422288895
      ],
      "bottle_position_world": [
        -0.201231449842453,
        0.1001892015337944,
        0.8377258777618408
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        -3.5213291994296014e-05,
        -2.130015127477236e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.7,
      "clearance_m": -0.00022083520889282227,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259832501411438,
      "action": [
        0.17904354631900787,
        -0.2032671868801117,
        0.13314512372016907,
        0.010071821510791779,
        0.1628815233707428,
        -0.04163907468318939,
        -0.9209956526756287
      ],
      "proprioception": [
        -3.2790565490722656,
        -0.3849751353263855,
        -8.168253407347947e-05,
        -1.2191218137741089,
        -1.572025179862976,
        -0.11754976958036423,
        0.05947946384549141,
        0.8681617975234985,
        -0.010256768204271793,
        0.11901118606328964,
        -0.020017875358462334,
        -0.9997866153717041,
        0.0051338281482458115,
        -0.9992586374282837,
        0.019837822765111923,
        -0.03300176188349724
      ],
      "bottle_position_world": [
        -0.20122458040714264,
        0.10018964856863022,
        0.8377518057823181
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        9.6042012955877e-06,
        3.382790964678861e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.75,
      "clearance_m": -0.00025397539138793945,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598992586135864,
      "action": [
        0.17959918081760406,
        -0.19708660244941711,
        0.12725099921226501,
        0.006497658789157867,
        0.1612752377986908,
        -0.03810496628284454,
        -0.9148585796356201
      ],
      "proprioception": [
        -3.279911518096924,
        -0.38522079586982727,
        -7.801378524163738e-05,
        -1.2200462818145752,
        -1.5718622207641602,
        -0.11790283769369125,
        0.05970215052366257,
        0.8684049844741821,
        -0.010988019406795502,
        0.11931715905666351,
        -0.020520426332950592,
        -0.9997766017913818,
        0.005121082067489624,
        -0.9992091655731201,
        0.020333699882030487,
        -0.03417670726776123
      ],
      "bottle_position_world": [
        -0.20123228430747986,
        0.10017561167478561,
        0.8377189040184021
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        6.067544381949119e-05,
        -0.00012284530384931713,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.800000000000001,
      "clearance_m": -0.00025159120559692383,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259892702102661,
      "action": [
        0.18245817720890045,
        -0.19018852710723877,
        0.11655458807945251,
        0.0026359930634498596,
        0.16085374355316162,
        -0.026286348700523376,
        -0.9204642176628113
      ],
      "proprioception": [
        -3.2807319164276123,
        -0.3854198157787323,
        -7.46379591873847e-05,
        -1.2210314273834229,
        -1.5717437267303467,
        -0.11836374551057816,
        0.059263892471790314,
        0.8686639666557312,
        -0.011704519391059875,
        0.11959007382392883,
        -0.0208820179104805,
        -0.9997687935829163,
        0.005158556625247002,
        -0.9991607069969177,
        0.020686842501163483,
        -0.03536023572087288
      ],
      "bottle_position_world": [
        -0.20122382044792175,
        0.1001829206943512,
        0.8377207517623901
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        6.47896304144524e-05,
        -7.752819328743499e-06,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.8500000000000005,
      "clearance_m": -0.0002524256706237793,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259825646877289,
      "action": [
        0.18188317120075226,
        -0.18362730741500854,
        0.1228780448436737,
        -0.0006023570895195007,
        0.1594807207584381,
        -0.01647709310054779,
        -0.9213367700576782
      ],
      "proprioception": [
        -3.281524419784546,
        -0.3856407701969147,
        -7.502720109187067e-05,
        -1.2220274209976196,
        -1.5716605186462402,
        -0.11891843378543854,
        0.058636508882045746,
        0.8689241409301758,
        -0.012407219037413597,
        0.11988506466150284,
        -0.021123306825757027,
        -0.9997634887695312,
        0.005239890888333321,
        -0.9991122484207153,
        0.020917823538184166,
        -0.03657519817352295
      ],
      "bottle_position_world": [
        -0.2012231945991516,
        0.10017374157905579,
        0.8377203345298767
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        0.00013798232248518616,
        -6.734907947247848e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.9,
      "clearance_m": -0.0002518892288208008,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599138617515564,
      "action": [
        0.1813264638185501,
        -0.17669612169265747,
        0.12165340781211853,
        -0.0044900402426719666,
        0.15830281376838684,
        -0.0051928311586380005,
        -0.922145664691925
      ],
      "proprioception": [
        -3.2822177410125732,
        -0.3858383893966675,
        -8.429990703007206e-05,
        -1.2229773998260498,
        -1.5716211795806885,
        -0.11954154074192047,
        0.058030739426612854,
        0.8691720962524414,
        -0.013034929521381855,
        0.12015952169895172,
        -0.021198617294430733,
        -0.9997612833976746,
        0.00536143034696579,
        -0.9990681409835815,
        0.020981591194868088,
        -0.037724293768405914
      ],
      "bottle_position_world": [
        -0.2012290358543396,
        0.10018142312765121,
        0.8377207517623901
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        3.93975387851242e-05,
        -5.708700336981565e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 6.95,
      "clearance_m": -0.0002511143684387207,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259932041168213,
      "action": [
        0.17967666685581207,
        -0.17257097363471985,
        0.11812344193458557,
        -0.0091472789645195,
        0.15862499177455902,
        0.005277916789054871,
        -0.9173409342765808
      ],
      "proprioception": [
        -3.2829015254974365,
        -0.386038601398468,
        -7.967036799527705e-05,
        -1.223952054977417,
        -1.5716406106948853,
        -0.12027380615472794,
        0.058244213461875916,
        0.8694223165512085,
        -0.01367173995822668,
        0.12043285369873047,
        -0.02115778438746929,
        -0.9997608661651611,
        0.0055487193167209625,
        -0.9990248680114746,
        0.020926402881741524,
        -0.03887913376092911
      ],
      "bottle_position_world": [
        -0.2012338936328888,
        0.10018045455217361,
        0.8377219438552856
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        1.2928391697641928e-05,
        -0.00010099732753587887,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.0,
      "clearance_m": -0.00024896860122680664,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259985685348511,
      "action": [
        0.1809966117143631,
        -0.16660481691360474,
        0.1105203628540039,
        -0.011840693652629852,
        0.15836361050605774,
        0.015728160738945007,
        -0.9219873547554016
      ],
      "proprioception": [
        -3.283557891845703,
        -0.38620731234550476,
        -7.616587390657514e-05,
        -1.2249670028686523,
        -1.571692943572998,
        -0.12111411243677139,
        0.057903505861759186,
        0.8696831464767456,
        -0.014295751228928566,
        0.12068405747413635,
        -0.020983172580599785,
        -0.9997632503509521,
        0.005775585770606995,
        -0.9989830851554871,
        0.020735470578074455,
        -0.04003867506980896
      ],
      "bottle_position_world": [
        -0.20123642683029175,
        0.10018658638000488,
        0.8377233743667603
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        -5.0665606977418065e-05,
        -7.64312208048068e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.050000000000001,
      "clearance_m": -0.0002568960189819336,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425998717546463,
      "action": [
        0.1804646998643875,
        -0.1600612998008728,
        0.11663922667503357,
        -0.01253344863653183,
        0.15643520653247833,
        0.01889832317829132,
        -0.9228943586349487
      ],
      "proprioception": [
        -3.284194231033325,
        -0.3863985538482666,
        -7.642266427865252e-05,
        -1.2259917259216309,
        -1.571751594543457,
        -0.12197864800691605,
        0.057367537170648575,
        0.8699458241462708,
        -0.014904724434018135,
        0.12095807492733002,
        -0.020765090361237526,
        -0.9997665882110596,
        0.006016179919242859,
        -0.998939573764801,
        0.02049976773560047,
        -0.04123268648982048
      ],
      "bottle_position_world": [
        -0.20122960209846497,
        0.10018862783908844,
        0.8377155065536499
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        -1.8301721866009757e-05,
        -1.1824621651612688e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.1000000000000005,
      "clearance_m": -0.00025576353073120117,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259912967681885,
      "action": [
        0.1809261590242386,
        -0.15274816751480103,
        0.11637687683105469,
        -0.012480638921260834,
        0.15411376953125,
        0.018766120076179504,
        -0.9235981702804565
      ],
      "proprioception": [
        -3.2847564220428467,
        -0.38657063245773315,
        -8.672548574395478e-05,
        -1.2269736528396606,
        -1.5718034505844116,
        -0.12277255952358246,
        0.05684251710772514,
        0.87019944190979,
        -0.015446292236447334,
        0.12121608853340149,
        -0.02054319903254509,
        -0.9997695684432983,
        0.006242725998163223,
        -0.9988964200019836,
        0.0202606413513422,
        -0.042375944554805756
      ],
      "bottle_position_world": [
        -0.2012259066104889,
        0.10018198937177658,
        0.8377169370651245
      ],
      "bottle_quaternion_world": [
        0.7284959554672241,
        5.7004908740054816e-05,
        -3.140778062515892e-05,
        0.6850501298904419
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.15,
      "clearance_m": -0.00026530027389526367,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260031282901764,
      "action": [
        0.1806618720293045,
        -0.14783385396003723,
        0.11487814784049988,
        -0.012704335153102875,
        0.15331202745437622,
        0.015644803643226624,
        -0.9197678565979004
      ],
      "proprioception": [
        -3.285315752029419,
        -0.3867515027523041,
        -8.28005067887716e-05,
        -1.2279884815216064,
        -1.5718632936477661,
        -0.12352179735898972,
        0.0569743886590004,
        0.8704593181610107,
        -0.015988796949386597,
        0.12147875130176544,
        -0.02036418206989765,
        -0.9997717142105103,
        0.0064804889261722565,
        -0.9988501071929932,
        0.020063132047653198,
        -0.04354570433497429
      ],
      "bottle_position_world": [
        -0.20123173296451569,
        0.10019207745790482,
        0.8377136588096619
      ],
      "bottle_quaternion_world": [
        0.7284961342811584,
        -5.9374291595304385e-05,
        -3.4990951007785043e-06,
        0.6850498914718628
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.2,
      "clearance_m": -0.00025850534439086914,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600250244140625,
      "action": [
        0.1838281899690628,
        -0.14130336046218872,
        0.10727867484092712,
        -0.011313997209072113,
        0.15144082903862,
        0.01298348605632782,
        -0.9234321117401123
      ],
      "proprioception": [
        -3.285858631134033,
        -0.3868997097015381,
        -7.986465789144859e-05,
        -1.2290613651275635,
        -1.5719083547592163,
        -0.12422338128089905,
        0.05669258162379265,
        0.8707364797592163,
        -0.01651572994887829,
        0.12172010540962219,
        -0.020216014236211777,
        -0.9997734427452087,
        0.006706519052386284,
        -0.9988006353378296,
        0.019896183162927628,
        -0.04474310576915741
      ],
      "bottle_position_world": [
        -0.20123815536499023,
        0.10018596798181534,
        0.8377141952514648
      ],
      "bottle_quaternion_world": [
        0.7284961938858032,
        -5.924096694798209e-05,
        -9.437916014576331e-05,
        0.685049831867218
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.25,
      "clearance_m": -0.0002588629722595215,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599302530288696,
      "action": [
        0.18497438728809357,
        -0.1347809135913849,
        0.11285439133644104,
        -0.009080491960048676,
        0.1486385315656662,
        0.0054651349782943726,
        -0.9244750142097473
      ],
      "proprioception": [
        -3.2863903045654297,
        -0.3870651423931122,
        -8.075255755102262e-05,
        -1.2301597595214844,
        -1.5719256401062012,
        -0.12481861561536789,
        0.05620948225259781,
        0.8710212707519531,
        -0.017026305198669434,
        0.12198160588741302,
        -0.020162325352430344,
        -0.9997729063034058,
        0.006907299160957336,
        -0.9987452030181885,
        0.019823836162686348,
        -0.045990291982889175
      ],
      "bottle_position_world": [
        -0.20122796297073364,
        0.10018109530210495,
        0.8377137780189514
      ],
      "bottle_quaternion_world": [
        0.7284969091415405,
        4.936698678648099e-05,
        -5.2953153499402106e-05,
        0.6850491166114807
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.300000000000001,
      "clearance_m": -0.00025647878646850586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599955201148987,
      "action": [
        0.1865164190530777,
        -0.12798845767974854,
        0.11240249872207642,
        -0.007112585008144379,
        0.1459229290485382,
        -0.0019374340772628784,
        -0.9249143600463867
      ],
      "proprioception": [
        -3.28686261177063,
        -0.3872109651565552,
        -9.146123193204403e-05,
        -1.231220006942749,
        -1.5719186067581177,
        -0.12527574598789215,
        0.055754613131284714,
        0.871299147605896,
        -0.017477719113230705,
        0.12222707271575928,
        -0.020186206325888634,
        -0.9997713565826416,
        0.007073309272527695,
        -0.9986890554428101,
        0.01983044296503067,
        -0.04719413071870804
      ],
      "bottle_position_world": [
        -0.20123448967933655,
        0.10018597543239594,
        0.837716281414032
      ],
      "bottle_quaternion_world": [
        0.7284970283508301,
        -3.346669836901128e-05,
        -6.748583837179467e-05,
        0.6850489974021912
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.3500000000000005,
      "clearance_m": -0.0002532005310058594,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259915053844452,
      "action": [
        0.187207892537117,
        -0.12327418476343155,
        0.11043435335159302,
        -0.0065218135714530945,
        0.14445379376411438,
        -0.00771467387676239,
        -0.9212920069694519
      ],
      "proprioception": [
        -3.2873339653015137,
        -0.3873612880706787,
        -8.795704343356192e-05,
        -1.2323247194290161,
        -1.571907877922058,
        -0.12564998865127563,
        0.05591700226068497,
        0.8715869188308716,
        -0.01792866922914982,
        0.12247473746538162,
        -0.020291896536946297,
        -0.9997681379318237,
        0.00723682064563036,
        -0.9986280798912048,
        0.019918156787753105,
        -0.04843281954526901
      ],
      "bottle_position_world": [
        -0.20122076570987701,
        0.10018804669380188,
        0.8377195596694946
      ],
      "bottle_quaternion_world": [
        0.7284970283508301,
        4.812816405319609e-05,
        4.986806743545458e-05,
        0.6850489974021912
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.4,
      "clearance_m": -0.000246584415435791,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259949326515198,
      "action": [
        0.18950946629047394,
        -0.11774478107690811,
        0.10414716601371765,
        -0.005780480802059174,
        0.1430453509092331,
        -0.009831175208091736,
        -0.9245648384094238
      ],
      "proprioception": [
        -3.2877891063690186,
        -0.3874846398830414,
        -8.490111213177443e-05,
        -1.2334785461425781,
        -1.5718894004821777,
        -0.1259794980287552,
        0.05570739507675171,
        0.8718893527984619,
        -0.018365908414125443,
        0.12270498275756836,
        -0.020426327362656593,
        -0.9997641444206238,
        0.007394172251224518,
        -0.9985637068748474,
        0.02003423124551773,
        -0.04969538748264313
      ],
      "bottle_position_world": [
        -0.20123568177223206,
        0.10018355399370193,
        0.8377262949943542
      ],
      "bottle_quaternion_world": [
        0.7284970283508301,
        -2.3406471882481128e-05,
        -9.366287849843502e-05,
        0.6850489974021912
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.45,
      "clearance_m": -0.0002518892288208008,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599228024482727,
      "action": [
        0.18961353600025177,
        -0.11236140877008438,
        0.1083189845085144,
        -0.005206994712352753,
        0.14120766520500183,
        -0.012946173548698425,
        -0.9251319169998169
      ],
      "proprioception": [
        -3.2882306575775146,
        -0.38762208819389343,
        -8.425274427281693e-05,
        -1.2346501350402832,
        -1.571864366531372,
        -0.12625253200531006,
        0.055355265736579895,
        0.872196614742279,
        -0.0187904741615057,
        0.12295109033584595,
        -0.020603589713573456,
        -0.9997594356536865,
        0.0075476085767149925,
        -0.9984951615333557,
        0.020192546769976616,
        -0.05099271982908249
      ],
      "bottle_position_world": [
        -0.2012283056974411,
        0.10018341988325119,
        0.8377209901809692
      ],
      "bottle_quaternion_world": [
        0.7284970283508301,
        2.9321343390620314e-05,
        -3.89533415727783e-05,
        0.6850489974021912
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.5,
      "clearance_m": -0.0002455711364746094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259975850582123,
      "action": [
        0.18984301388263702,
        -0.10681460052728653,
        0.10689696669578552,
        -0.005406104028224945,
        0.13963092863559723,
        -0.013521388173103333,
        -0.9253093600273132
      ],
      "proprioception": [
        -3.28861665725708,
        -0.38773831725120544,
        -9.502886678092182e-05,
        -1.235768437385559,
        -1.571841835975647,
        -0.1264827847480774,
        0.05505123361945152,
        0.8724918961524963,
        -0.01916542463004589,
        0.12317898124456406,
        -0.02076774090528488,
        -0.9997548460960388,
        0.007693938910961151,
        -0.998428225517273,
        0.02033822052180767,
        -0.05222773179411888
      ],
      "bottle_position_world": [
        -0.20123307406902313,
        0.10018978267908096,
        0.8377267122268677
      ],
      "bottle_quaternion_world": [
        0.7284970283508301,
        -5.122835500515066e-05,
        -2.9494165573851205e-05,
        0.6850489974021912
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.550000000000001,
      "clearance_m": -0.00025516748428344727,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599695920944214,
      "action": [
        0.18928886950016022,
        -0.10287413746118546,
        0.10553336143493652,
        -0.006816349923610687,
        0.13899748027324677,
        -0.011848852038383484,
        -0.9219915866851807
      ],
      "proprioception": [
        -3.2889950275421143,
        -0.38786184787750244,
        -9.110633982345462e-05,
        -1.23691987991333,
        -1.5718382596969604,
        -0.12671636044979095,
        0.05528976023197174,
        0.8727931976318359,
        -0.019540531560778618,
        0.12341015040874481,
        -0.020922593772411346,
        -0.9997503757476807,
        0.00786302424967289,
        -0.9983587861061096,
        0.020472779870033264,
        -0.05348541960120201
      ],
      "bottle_position_world": [
        -0.2012214958667755,
        0.10019407421350479,
        0.8377174139022827
      ],
      "bottle_quaternion_world": [
        0.7284970283508301,
        -2.160404619644396e-06,
        8.767456893110648e-05,
        0.6850489974021912
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.6000000000000005,
      "clearance_m": -0.00025027990341186523,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600029706954956,
      "action": [
        0.18991924822330475,
        -0.09828431159257889,
        0.10011106729507446,
        -0.007924877107143402,
        0.13859117031097412,
        -0.00762428343296051,
        -0.9244760274887085
      ],
      "proprioception": [
        -3.289353609085083,
        -0.3879643380641937,
        -8.748531399760395e-05,
        -1.2381033897399902,
        -1.5718482732772827,
        -0.12698298692703247,
        0.055238574743270874,
        0.8731036186218262,
        -0.019903529435396194,
        0.12362699955701828,
        -0.021025393158197403,
        -0.9997467398643494,
        0.008049005642533302,
        -0.9982885718345642,
        0.020553888753056526,
        -0.05475195497274399
      ],
      "bottle_position_world": [
        -0.20123229920864105,
        0.10019179433584213,
        0.8377218842506409
      ],
      "bottle_quaternion_world": [
        0.7284970283508301,
        -6.137156015029177e-05,
        -1.0319113243895117e-05,
        0.6850489974021912
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.65,
      "clearance_m": -0.00025784969329833984,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599818110466003,
      "action": [
        0.18896164000034332,
        -0.09377864748239517,
        0.10349643230438232,
        -0.00873362272977829,
        0.13771694898605347,
        -0.005478903651237488,
        -0.9246739745140076
      ],
      "proprioception": [
        -3.289695978164673,
        -0.3880794048309326,
        -8.590216020820662e-05,
        -1.239294409751892,
        -1.571867823600769,
        -0.12726035714149475,
        0.05508036911487579,
        0.8734152317047119,
        -0.020255526527762413,
        0.12385731190443039,
        -0.02110240049660206,
        -0.9997435212135315,
        0.008248921483755112,
        -0.9982160329818726,
        0.020607756450772285,
        -0.05603932961821556
      ],
      "bottle_position_world": [
        -0.2012237310409546,
        0.10019243508577347,
        0.8377146124839783
      ],
      "bottle_quaternion_world": [
        0.7284966111183167,
        -6.231718998606084e-06,
        5.83327746426221e-05,
        0.6850495338439941
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.7,
      "clearance_m": -0.0002580881118774414,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599403858184814,
      "action": [
        0.1883992701768875,
        -0.0889897570014,
        0.10217669606208801,
        -0.009584926068782806,
        0.13680240511894226,
        -0.0029166191816329956,
        -0.9245873093605042
      ],
      "proprioception": [
        -3.2899911403656006,
        -0.38817596435546875,
        -9.611698624212295e-05,
        -1.2404221296310425,
        -1.5718947649002075,
        -0.12753407657146454,
        0.054968494921922684,
        0.8737122416496277,
        -0.0205661840736866,
        0.12407061457633972,
        -0.021135946735739708,
        -0.9997411966323853,
        0.008447467349469662,
        -0.9981468915939331,
        0.020618421956896782,
        -0.057256199419498444
      ],
      "bottle_position_world": [
        -0.2012217491865158,
        0.10018829256296158,
        0.837714672088623
      ],
      "bottle_quaternion_world": [
        0.7284963130950928,
        3.868252315442078e-05,
        4.410921974340454e-05,
        0.685049831867218
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.75,
      "clearance_m": -0.00025516748428344727,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259980618953705,
      "action": [
        0.18727470934391022,
        -0.08547299355268478,
        0.10202211141586304,
        -0.01090281456708908,
        0.13661544024944305,
        -0.00038962066173553467,
        -0.9217812418937683
      ],
      "proprioception": [
        -3.2902774810791016,
        -0.3882843852043152,
        -9.21343598747626e-05,
        -1.241573691368103,
        -1.5719395875930786,
        -0.12782630324363708,
        0.05528408661484718,
        0.8740127086639404,
        -0.02087494172155857,
        0.12429042160511017,
        -0.02114369347691536,
        -0.9997392296791077,
        0.008668379858136177,
        -0.9980756044387817,
        0.020601319149136543,
        -0.058491650968790054
      ],
      "bottle_position_world": [
        -0.20122966170310974,
        0.10018879920244217,
        0.8377177119255066
      ],
      "bottle_quaternion_world": [
        0.7284963130950928,
        -2.0166813555988483e-05,
        -1.1151578291901387e-05,
        0.685049831867218
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.800000000000001,
      "clearance_m": -0.0002573728561401367,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259895086288452,
      "action": [
        0.18743492662906647,
        -0.08125519007444382,
        0.09765580296516418,
        -0.011543892323970795,
        0.13625329732894897,
        0.0027556270360946655,
        -0.9235725998878479
      ],
      "proprioception": [
        -3.2905471324920654,
        -0.38837724924087524,
        -8.84166220203042e-05,
        -1.2427513599395752,
        -1.5719934701919556,
        -0.12814286351203918,
        0.055368781089782715,
        0.8743204474449158,
        -0.021173078566789627,
        0.12450030446052551,
        -0.021111635491251945,
        -0.9997377395629883,
        0.008901780471205711,
        -0.9980028867721558,
        0.020543081685900688,
        -0.059736087918281555
      ],
      "bottle_position_world": [
        -0.20122119784355164,
        0.10018270462751389,
        0.8377153277397156
      ],
      "bottle_quaternion_world": [
        0.7284963130950928,
        8.492055349051952e-05,
        9.02957071957644e-06,
        0.6850497126579285
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.8500000000000005,
      "clearance_m": -0.00025719404220581055,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425995796918869,
      "action": [
        0.18664605915546417,
        -0.07716048508882523,
        0.10042563080787659,
        -0.011473290622234344,
        0.13537070155143738,
        0.002956584095954895,
        -0.9237322807312012
      ],
      "proprioception": [
        -3.2908036708831787,
        -0.38848087191581726,
        -8.662649634061381e-05,
        -1.2439372539520264,
        -1.5720471143722534,
        -0.12845057249069214,
        0.05534069612622261,
        0.874630331993103,
        -0.021459853276610374,
        0.12472176551818848,
        -0.021075522527098656,
        -0.9997363686561584,
        0.009137807413935661,
        -0.9979278445243835,
        0.020479805767536163,
        -0.061001263558864594
      ],
      "bottle_position_world": [
        -0.2012302726507187,
        0.10018376260995865,
        0.8377152681350708
      ],
      "bottle_quaternion_world": [
        0.7284965515136719,
        1.2667797818721738e-05,
        -5.142335066921078e-05,
        0.6850495338439941
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.9,
      "clearance_m": -0.0002582073211669922,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259920120239258,
      "action": [
        0.18617357313632965,
        -0.0728008970618248,
        0.0998009443283081,
        -0.011291436851024628,
        0.1343260109424591,
        0.0024340003728866577,
        -0.9236167073249817
      ],
      "proprioception": [
        -3.2910242080688477,
        -0.38856881856918335,
        -9.710900485515594e-05,
        -1.245058536529541,
        -1.572096347808838,
        -0.12872125208377838,
        0.055329687893390656,
        0.8749254941940308,
        -0.021711960434913635,
        0.12492872029542923,
        -0.02104013040661812,
        -0.9997352361679077,
        0.009359268471598625,
        -0.9978551864624023,
        0.02041824348270893,
        -0.06219983473420143
      ],
      "bottle_position_world": [
        -0.2012283205986023,
        0.10017969459295273,
        0.8377144932746887
      ],
      "bottle_quaternion_world": [
        0.7284969091415405,
        5.702545604435727e-05,
        -6.557608867296949e-05,
        0.6850491166114807
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 7.95,
      "clearance_m": -0.0002593994140625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599114775657654,
      "action": [
        0.18543066084384918,
        -0.06948555260896683,
        0.1001642644405365,
        -0.011422835290431976,
        0.13388626277446747,
        0.0017016083002090454,
        -0.9212257862091064
      ],
      "proprioception": [
        -3.291238784790039,
        -0.3886704742908478,
        -9.320044046035036e-05,
        -1.246206521987915,
        -1.5721503496170044,
        -0.12897422909736633,
        0.05566101893782616,
        0.8752252459526062,
        -0.02196081541478634,
        0.12514382600784302,
        -0.021017231047153473,
        -0.9997331500053406,
        0.009588157758116722,
        -0.9977789521217346,
        0.020367847755551338,
        -0.06342345476150513
      ],
      "bottle_position_world": [
        -0.20122413337230682,
        0.100181445479393,
        0.8377133011817932
      ],
      "bottle_quaternion_world": [
        0.7284971475601196,
        7.366449426626787e-05,
        -2.1585987269645557e-05,
        0.6850488781929016
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.0,
      "clearance_m": -0.00025963783264160156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599695920944214,
      "action": [
        0.1858261376619339,
        -0.06568209081888199,
        0.09618553519248962,
        -0.011056952178478241,
        0.13324815034866333,
        0.0017421990633010864,
        -0.92264324426651
      ],
      "proprioception": [
        -3.291440486907959,
        -0.3887576460838318,
        -8.956188685260713e-05,
        -1.2473812103271484,
        -1.5722023248672485,
        -0.12921607494354248,
        0.05579451099038124,
        0.8755330443382263,
        -0.022199269384145737,
        0.12535016238689423,
        -0.02099296636879444,
        -0.9997316002845764,
        0.00981681514531374,
        -0.9977006316184998,
        0.020315371453762054,
        -0.06465964764356613
      ],
      "bottle_position_world": [
        -0.20123183727264404,
        0.10018283128738403,
        0.837712824344635
      ],
      "bottle_quaternion_world": [
        0.7284971475601196,
        8.842735041980632e-06,
        -6.935949204489589e-05,
        0.6850488781929016
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.05,
      "clearance_m": -0.0002556443214416504,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599353194236755,
      "action": [
        0.18531043827533722,
        -0.06205826252698898,
        0.09844669699668884,
        -0.010345570743083954,
        0.1322733461856842,
        -0.0002667754888534546,
        -0.9228202104568481
      ],
      "proprioception": [
        -3.2916324138641357,
        -0.3888532817363739,
        -8.797449845587835e-05,
        -1.2485668659210205,
        -1.5722475051879883,
        -0.12942296266555786,
        0.055814649909734726,
        0.8758439421653748,
        -0.02242775820195675,
        0.1255667358636856,
        -0.02099391259253025,
        -0.9997292757034302,
        0.010039323940873146,
        -0.9976189136505127,
        0.02028762549161911,
        -0.06591786444187164
      ],
      "bottle_position_world": [
        -0.20122303068637848,
        0.10018768906593323,
        0.8377170562744141
      ],
      "bottle_quaternion_world": [
        0.7284971475601196,
        3.475418998277746e-05,
        3.064336851821281e-05,
        0.6850488781929016
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.1,
      "clearance_m": -0.00023931264877319336,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599251866340637,
      "action": [
        0.18496568500995636,
        -0.05835419148206711,
        0.09783247113227844,
        -0.009754858911037445,
        0.13129404187202454,
        -0.0021643787622451782,
        -0.9226504564285278
      ],
      "proprioception": [
        -3.291797399520874,
        -0.3889336884021759,
        -9.820886043598875e-05,
        -1.2496885061264038,
        -1.572284460067749,
        -0.12958469986915588,
        0.055844996124506,
        0.8761401176452637,
        -0.02262820489704609,
        0.1257685273885727,
        -0.02101214975118637,
        -0.9997269511222839,
        0.010242894291877747,
        -0.9975396990776062,
        0.0202785637229681,
        -0.06711096316576004
      ],
      "bottle_position_world": [
        -0.20122773945331573,
        0.10019054263830185,
        0.8377333283424377
      ],
      "bottle_quaternion_world": [
        0.7284971475601196,
        -2.0231234884704463e-05,
        1.545079612697009e-05,
        0.6850488781929016
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.15,
      "clearance_m": -0.0002473592758178711,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259902834892273,
      "action": [
        0.18428702652454376,
        -0.055468544363975525,
        0.09860369563102722,
        -0.009723745286464691,
        0.1308055818080902,
        -0.0033037513494491577,
        -0.9206255078315735
      ],
      "proprioception": [
        -3.2919559478759766,
        -0.3890286684036255,
        -9.458308340981603e-05,
        -1.2508360147476196,
        -1.5723239183425903,
        -0.12972350418567657,
        0.056156910955905914,
        0.8764410614967346,
        -0.022824309766292572,
        0.12597979605197906,
        -0.021047458052635193,
        -0.9997239708900452,
        0.010450838133692741,
        -0.9974566102027893,
        0.020285403355956078,
        -0.06833004206418991
      ],
      "bottle_position_world": [
        -0.20123080909252167,
        0.10018058121204376,
        0.8377251029014587
      ],
      "bottle_quaternion_world": [
        0.7284971475601196,
        3.294706402812153e-05,
        -7.735367398709059e-05,
        0.6850488781929016
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.200000000000001,
      "clearance_m": -0.00025218725204467773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599615454673767,
      "action": [
        0.18432165682315826,
        -0.05222940444946289,
        0.09485223889350891,
        -0.009590528905391693,
        0.1303422451019287,
        -0.0029951781034469604,
        -0.9214529991149902
      ],
      "proprioception": [
        -3.292102813720703,
        -0.38911116123199463,
        -9.09172449610196e-05,
        -1.2520067691802979,
        -1.5723638534545898,
        -0.12985458970069885,
        0.05634560063481331,
        0.8767486810684204,
        -0.02301153540611267,
        0.12618333101272583,
        -0.02107924222946167,
        -0.9997212886810303,
        0.010660650208592415,
        -0.9973716735839844,
        0.020287927240133286,
        -0.06955956667661667
      ],
      "bottle_position_world": [
        -0.2012283205986023,
        0.10018862783908844,
        0.8377203941345215
      ],
      "bottle_quaternion_world": [
        0.7284970879554749,
        -9.764280548552051e-06,
        -2.0405211671459256e-06,
        0.6850489377975464
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.25,
      "clearance_m": -0.00024706125259399414,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260033071041107,
      "action": [
        0.1836693435907364,
        -0.04923710972070694,
        0.09606388211250305,
        -0.009200982749462128,
        0.12974503636360168,
        -0.0037322193384170532,
        -0.9216539263725281
      ],
      "proprioception": [
        -3.292240619659424,
        -0.3891984224319458,
        -8.863490802468732e-05,
        -1.2531872987747192,
        -1.5724009275436401,
        -0.12996719777584076,
        0.05642477422952652,
        0.8770591020584106,
        -0.02319052629172802,
        0.12639294564723969,
        -0.02112075500190258,
        -0.9997180700302124,
        0.010868683457374573,
        -0.9972838163375854,
        0.020299524068832397,
        -0.07080525904893875
      ],
      "bottle_position_world": [
        -0.20122921466827393,
        0.10020048171281815,
        0.8377253413200378
      ],
      "bottle_quaternion_world": [
        0.7284970879554749,
        -0.00010490074782865122,
        7.410284160869196e-05,
        0.6850489377975464
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.3,
      "clearance_m": -0.00024372339248657227,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599576711654663,
      "action": [
        0.1829427033662796,
        -0.046170465648174286,
        0.09550410509109497,
        -0.009080372750759125,
        0.1291009783744812,
        -0.004129573702812195,
        -0.9212855696678162
      ],
      "proprioception": [
        -3.292356491088867,
        -0.38927072286605835,
        -9.882099402602762e-05,
        -1.2543002367019653,
        -1.5724354982376099,
        -0.13005825877189636,
        0.05652571842074394,
        0.8773537874221802,
        -0.023347074165940285,
        0.12658844888210297,
        -0.021161174401640892,
        -0.9997150301933289,
        0.01106384675949812,
        -0.9971993565559387,
        0.020311275497078896,
        -0.07198205590248108
      ],
      "bottle_position_world": [
        -0.20122623443603516,
        0.1001943051815033,
        0.8377291560173035
      ],
      "bottle_quaternion_world": [
        0.7284970879554749,
        -3.7640176742570475e-05,
        5.3123327234061435e-05,
        0.6850489377975464
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.35,
      "clearance_m": -0.00022864341735839844,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598792910575867,
      "action": [
        0.18204371631145477,
        -0.04365653544664383,
        0.09612852334976196,
        -0.009415917098522186,
        0.12883329391479492,
        -0.0035364776849746704,
        -0.9194236993789673
      ],
      "proprioception": [
        -3.2924652099609375,
        -0.3893573582172394,
        -9.477922139922157e-05,
        -1.255436658859253,
        -1.5724762678146362,
        -0.13014748692512512,
        0.05687316507101059,
        0.8776521682739258,
        -0.023499811068177223,
        0.126792773604393,
        -0.021197203546762466,
        -0.9997119903564453,
        0.011268152855336666,
        -0.9971119165420532,
        0.02031719498336315,
        -0.07318105548620224
      ],
      "bottle_position_world": [
        -0.2012304961681366,
        0.10018806159496307,
        0.837745726108551
      ],
      "bottle_quaternion_world": [
        0.7284970879554749,
        -2.093248622259125e-05,
        -2.255682738905307e-05,
        0.6850489377975464
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.4,
      "clearance_m": -0.00023418664932250977,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598751187324524,
      "action": [
        0.18144960701465607,
        -0.04098719358444214,
        0.09361788630485535,
        -0.009709291160106659,
        0.12872576713562012,
        -0.0020879358053207397,
        -0.9200426936149597
      ],
      "proprioception": [
        -3.292562484741211,
        -0.38943690061569214,
        -9.133396088145673e-05,
        -1.2565878629684448,
        -1.5725219249725342,
        -0.1302446573972702,
        0.05711136758327484,
        0.8779547810554504,
        -0.02364448644220829,
        0.12699323892593384,
        -0.021214723587036133,
        -0.9997091889381409,
        0.011479154229164124,
        -0.997022807598114,
        0.02030353620648384,
        -0.07438775151968002
      ],
      "bottle_position_world": [
        -0.2012312114238739,
        0.10018271952867508,
        0.8377376198768616
      ],
      "bottle_quaternion_world": [
        0.7284970879554749,
        1.3972568012832198e-05,
        -6.615389429498464e-05,
        0.6850489377975464
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.450000000000001,
      "clearance_m": -0.0002532005310058594,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599761486053467,
      "action": [
        0.18051697313785553,
        -0.03839945048093796,
        0.09405386447906494,
        -0.009674392640590668,
        0.12842512130737305,
        -0.001570865511894226,
        -0.9197701215744019
      ],
      "proprioception": [
        -3.2926502227783203,
        -0.38951945304870605,
        -8.85632834979333e-05,
        -1.2577464580535889,
        -1.572568655014038,
        -0.13033974170684814,
        0.05730011314153671,
        0.8782593011856079,
        -0.023781459778547287,
        0.12719778716564178,
        -0.02122538536787033,
        -0.9997066259384155,
        0.011692744679749012,
        -0.9969319105148315,
        0.020282166078686714,
        -0.07560502737760544
      ],
      "bottle_position_world": [
        -0.20121736824512482,
        0.10019955784082413,
        0.8377194404602051
      ],
      "bottle_quaternion_world": [
        0.7284970879554749,
        -1.4657385690952651e-05,
        0.0001546650455566123,
        0.6850489377975464
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.5,
      "clearance_m": -0.000250399112701416,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259970188140869,
      "action": [
        0.17979808151721954,
        -0.035735346376895905,
        0.09242916107177734,
        -0.009618453681468964,
        0.12799179553985596,
        -0.0009772330522537231,
        -0.9192940592765808
      ],
      "proprioception": [
        -3.2927212715148926,
        -0.3895833492279053,
        -9.817929094424471e-05,
        -1.2588390111923218,
        -1.5726131200790405,
        -0.1304275095462799,
        0.057514090090990067,
        0.8785485625267029,
        -0.02390071377158165,
        0.12738481163978577,
        -0.02122574672102928,
        -0.9997041821479797,
        0.011894401162862778,
        -0.9968448281288147,
        0.020251834765076637,
        -0.07675082981586456
      ],
      "bottle_position_world": [
        -0.20123489201068878,
        0.10018464177846909,
        0.8377213478088379
      ],
      "bottle_quaternion_world": [
        0.7284970879554749,
        -2.653100818861276e-05,
        -8.102093852357939e-05,
        0.6850489377975464
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.55,
      "clearance_m": -0.00025206804275512695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599472403526306,
      "action": [
        0.17867793142795563,
        -0.033480383455753326,
        0.09392416477203369,
        -0.009898565709590912,
        0.12786266207695007,
        -0.00026123225688934326,
        -0.917897641658783
      ],
      "proprioception": [
        -3.2927849292755127,
        -0.38966378569602966,
        -9.45441861404106e-05,
        -1.2599503993988037,
        -1.572662591934204,
        -0.13051684200763702,
        0.057883113622665405,
        0.8788403868675232,
        -0.024015571922063828,
        0.1275826245546341,
        -0.021218445152044296,
        -0.9997017979621887,
        0.012104221619665623,
        -0.9967550039291382,
        0.020212464034557343,
        -0.07791798561811447
      ],
      "bottle_position_world": [
        -0.20122955739498138,
        0.10018536448478699,
        0.8377201557159424
      ],
      "bottle_quaternion_world": [
        0.7284970879554749,
        5.505357876245398e-06,
        -3.4882614272646606e-05,
        0.6850489377975464
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.6,
      "clearance_m": -0.0002562403678894043,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259949326515198,
      "action": [
        0.17803408205509186,
        -0.03104747086763382,
        0.09121647477149963,
        -0.009985260665416718,
        0.12769441306591034,
        0.0008539706468582153,
        -0.9178950190544128
      ],
      "proprioception": [
        -3.2928383350372314,
        -0.3897375166416168,
        -9.074170520761982e-05,
        -1.2610764503479004,
        -1.5727150440216064,
        -0.13061149418354034,
        0.05820617824792862,
        0.8791363835334778,
        -0.024122536182403564,
        0.1277763545513153,
        -0.021195700392127037,
        -0.9996996521949768,
        0.01231858879327774,
        -0.9966636896133423,
        0.02015671879053116,
        -0.07909203320741653
      ],
      "bottle_position_world": [
        -0.20123770833015442,
        0.10017693042755127,
        0.8377166986465454
      ],
      "bottle_quaternion_world": [
        0.7284970879554749,
        1.1398254173400346e-05,
        -0.0001561899989610538,
        0.6850489377975464
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.65,
      "clearance_m": -0.00025707483291625977,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600545287132263,
      "action": [
        0.17709727585315704,
        -0.028755031526088715,
        0.09140545129776001,
        -0.009833954274654388,
        0.1274735927581787,
        0.000860854983329773,
        -0.9177512526512146
      ],
      "proprioception": [
        -3.2928833961486816,
        -0.38981276750564575,
        -8.796161273494363e-05,
        -1.2622085809707642,
        -1.5727678537368774,
        -0.1306990385055542,
        0.05846250057220459,
        0.8794341683387756,
        -0.024222692474722862,
        0.12797309458255768,
        -0.02117268368601799,
        -0.9996973872184753,
        0.01253373734652996,
        -0.9965702295303345,
        0.02009998820722103,
        -0.0802745521068573
      ],
      "bottle_position_world": [
        -0.20122849941253662,
        0.1001991331577301,
        0.8377156257629395
      ],
      "bottle_quaternion_world": [
        0.7284970879554749,
        -8.966822497313842e-05,
        6.944344204384834e-05,
        0.6850489377975464
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.700000000000001,
      "clearance_m": -0.00024950504302978516,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599302530288696,
      "action": [
        0.17641125619411469,
        -0.0264446884393692,
        0.09036391973495483,
        -0.009508542716503143,
        0.12709003686904907,
        0.0005394071340560913,
        -0.9172876477241516
      ],
      "proprioception": [
        -3.2929165363311768,
        -0.3898719251155853,
        -9.764594869920984e-05,
        -1.2632750272750854,
        -1.572815179824829,
        -0.13077083230018616,
        0.058719221502542496,
        0.8797166347503662,
        -0.024308577179908752,
        0.12815456092357635,
        -0.02115214616060257,
        -0.9996952414512634,
        0.01273385901004076,
        -0.9964807629585266,
        0.020047400146722794,
        -0.08138930797576904
      ],
      "bottle_position_world": [
        -0.20122817158699036,
        0.10018548369407654,
        0.8377227187156677
      ],
      "bottle_quaternion_world": [
        0.7284970879554749,
        1.5032957890070975e-05,
        -2.38130014622584e-05,
        0.6850489377975464
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.75,
      "clearance_m": -0.0002549290657043457,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599740624427795,
      "action": [
        0.17544515430927277,
        -0.024510949850082397,
        0.09189951419830322,
        -0.009434543550014496,
        0.12695345282554626,
        0.0003734380006790161,
        -0.9160251021385193
      ],
      "proprioception": [
        -3.2929444313049316,
        -0.38994792103767395,
        -9.402251453138888e-05,
        -1.2643606662750244,
        -1.5728636980056763,
        -0.13083511590957642,
        0.05910070240497589,
        0.8800020813941956,
        -0.024390477687120438,
        0.12834708392620087,
        -0.021134650334715843,
        -0.9996930956840515,
        0.012937339022755623,
        -0.9963883757591248,
        0.019996756687760353,
        -0.08252650499343872
      ],
      "bottle_position_world": [
        -0.20122811198234558,
        0.10018911212682724,
        0.8377176523208618
      ],
      "bottle_quaternion_world": [
        0.7284970283508301,
        -1.1540163541212678e-05,
        2.2477056518255267e-06,
        0.6850489974021912
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.8,
      "clearance_m": -0.00025343894958496094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600247263908386,
      "action": [
        0.17489521205425262,
        -0.02236969769001007,
        0.08912065625190735,
        -0.009273134171962738,
        0.12673696875572205,
        0.0006815344095230103,
        -0.9158931970596313
      ],
      "proprioception": [
        -3.2929627895355225,
        -0.39001667499542236,
        -9.049164509633556e-05,
        -1.2654612064361572,
        -1.5729126930236816,
        -0.1308957189321518,
        0.059445470571517944,
        0.880291759967804,
        -0.024464696645736694,
        0.12853498756885529,
        -0.021111655980348587,
        -0.9996909499168396,
        0.013142147101461887,
        -0.9962942004203796,
        0.019939955323934555,
        -0.08367091417312622
      ],
      "bottle_position_world": [
        -0.20123353600502014,
        0.1001923456788063,
        0.8377190232276917
      ],
      "bottle_quaternion_world": [
        0.7284970283508301,
        -7.425565127050504e-05,
        -1.567664003232494e-05,
        0.6850489974021912
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.85,
      "clearance_m": -0.0002308487892150879,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598751187324524,
      "action": [
        0.17405249178409576,
        -0.020481161773204803,
        0.08922454714775085,
        -0.008947812020778656,
        0.12655897438526154,
        8.471310138702393e-05,
        -0.9157565236091614
      ],
      "proprioception": [
        -3.2929739952087402,
        -0.3900866210460663,
        -8.75138066476211e-05,
        -1.2665685415267944,
        -1.5729597806930542,
        -0.13094311952590942,
        0.05972164869308472,
        0.8805833458900452,
        -0.024532482028007507,
        0.12872576713562012,
        -0.02109483629465103,
        -0.9996888041496277,
        0.013345270417630672,
        -0.9961977005004883,
        0.019888782873749733,
        -0.08482414484024048
      ],
      "bottle_position_world": [
        -0.201229989528656,
        0.1001860499382019,
        0.8377420902252197
      ],
      "bottle_quaternion_world": [
        0.7284970283508301,
        -2.3170032363850623e-06,
        -3.383544026291929e-05,
        0.6850489974021912
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.9,
      "clearance_m": -0.00025326013565063477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259999990463257,
      "action": [
        0.1731380671262741,
        -0.018619880080223083,
        0.08872756361961365,
        -0.008781157433986664,
        0.12635403871536255,
        -0.0006273239850997925,
        -0.9150741696357727
      ],
      "proprioception": [
        -3.292975664138794,
        -0.39014315605163574,
        -9.691288141766563e-05,
        -1.267608404159546,
        -1.573004961013794,
        -0.13097338378429413,
        0.06002325192093849,
        0.8808591365814209,
        -0.024588875472545624,
        0.12890291213989258,
        -0.02108488604426384,
        -0.9996861815452576,
        0.013536090031266212,
        -0.9961053729057312,
        0.01984609290957451,
        -0.08591021597385406
      ],
      "bottle_position_world": [
        -0.20123478770256042,
        0.10018783062696457,
        0.8377191424369812
      ],
      "bottle_quaternion_world": [
        0.7284970283508301,
        -5.0037717301165685e-05,
        -5.7468743762001395e-05,
        0.6850489974021912
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 8.950000000000001,
      "clearance_m": -0.00025665760040283203,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259970486164093,
      "action": [
        0.17263318598270416,
        -0.016793586313724518,
        0.08852434158325195,
        -0.00851508229970932,
        0.12613943219184875,
        -0.0005106478929519653,
        -0.9138725399971008
      ],
      "proprioception": [
        -3.2929744720458984,
        -0.3902095556259155,
        -9.294549818150699e-05,
        -1.268673062324524,
        -1.5730483531951904,
        -0.13099916279315948,
        0.060437075793743134,
        0.8811395168304443,
        -0.024642929434776306,
        0.1290857046842575,
        -0.021076912060379982,
        -0.9996837973594666,
        0.013727515935897827,
        -0.9960100054740906,
        0.019804522395133972,
        -0.08701746165752411
      ],
      "bottle_position_world": [
        -0.20123174786567688,
        0.10018458962440491,
        0.8377158641815186
      ],
      "bottle_quaternion_world": [
        0.7284970283508301,
        -4.433970389072783e-06,
        -5.800668805022724e-05,
        0.6850489974021912
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.0,
      "clearance_m": -0.00026035308837890625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599114775657654,
      "action": [
        0.17183731496334076,
        -0.015077315270900726,
        0.08705124258995056,
        -0.008358858525753021,
        0.12608972191810608,
        -0.000313684344291687,
        -0.9140293598175049
      ],
      "proprioception": [
        -3.2929630279541016,
        -0.39027243852615356,
        -8.970611088443547e-05,
        -1.2697474956512451,
        -1.5730916261672974,
        -0.13102160394191742,
        0.06076274812221527,
        0.8814228177070618,
        -0.02468830905854702,
        0.1292671412229538,
        -0.021062517538666725,
        -0.9996814727783203,
        0.013919636607170105,
        -0.9959130883216858,
        0.019755952060222626,
        -0.08813147246837616
      ],
      "bottle_position_world": [
        -0.20121519267559052,
        0.10018876194953918,
        0.8377125859260559
      ],
      "bottle_quaternion_world": [
        0.7284975051879883,
        8.168739441316575e-05,
        9.578301978763193e-05,
        0.685048520565033
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.05,
      "clearance_m": -0.00025904178619384766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260031580924988,
      "action": [
        0.17087788879871368,
        -0.013564974069595337,
        0.08675387501716614,
        -0.008128605782985687,
        0.12598219513893127,
        -0.0006728619337081909,
        -0.913295328617096
      ],
      "proprioception": [
        -3.292947769165039,
        -0.3903362452983856,
        -8.662451000418514e-05,
        -1.2708278894424438,
        -1.5731346607208252,
        -0.13103455305099487,
        0.06109713762998581,
        0.8817076683044434,
        -0.024730397388339043,
        0.12945061922073364,
        -0.021053750067949295,
        -0.9996787905693054,
        0.014111461117863655,
        -0.9958140254020691,
        0.019712448120117188,
        -0.08925241231918335
      ],
      "bottle_position_world": [
        -0.20123763382434845,
        0.10018698126077652,
        0.8377135396003723
      ],
      "bottle_quaternion_world": [
        0.7284979820251465,
        -6.358676182571799e-05,
        -8.476297080051154e-05,
        0.6850479245185852
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.1,
      "clearance_m": -0.0002557039260864258,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259890019893646,
      "action": [
        0.17006643116474152,
        -0.011879757046699524,
        0.08527761697769165,
        -0.008078686892986298,
        0.12587673962116241,
        -0.0007763653993606567,
        -0.9128887057304382
      ],
      "proprioception": [
        -3.29292631149292,
        -0.39038339257240295,
        -9.547107765683904e-05,
        -1.2718442678451538,
        -1.5731767416000366,
        -0.13103951513767242,
        0.06142581254243851,
        0.8819774985313416,
        -0.024764537811279297,
        0.12961770594120026,
        -0.021046264097094536,
        -0.9996765851974487,
        0.014292900450527668,
        -0.9957200288772583,
        0.019671795889735222,
        -0.09030567854642868
      ],
      "bottle_position_world": [
        -0.20122216641902924,
        0.10018201917409897,
        0.8377170562744141
      ],
      "bottle_quaternion_world": [
        0.7284983992576599,
        8.236502617364749e-05,
        -4.39646419181372e-06,
        0.6850475668907166
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.15,
      "clearance_m": -0.0002671480178833008,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260094463825226,
      "action": [
        0.16929693520069122,
        -0.010441318154335022,
        0.08667024970054626,
        -0.007923923432826996,
        0.1258494257926941,
        -0.0004921704530715942,
        -0.9119499921798706
      ],
      "proprioception": [
        -3.292898416519165,
        -0.390445351600647,
        -9.194262383971363e-05,
        -1.2728798389434814,
        -1.5732179880142212,
        -0.13104340434074402,
        0.061812229454517365,
        0.8822504281997681,
        -0.024793006479740143,
        0.12979479134082794,
        -0.021033771336078644,
        -0.9996740818023682,
        0.014475791715085506,
        -0.9956227540969849,
        0.01962527260184288,
        -0.09138047695159912
      ],
      "bottle_position_world": [
        -0.20123615860939026,
        0.10019630938768387,
        0.8377119302749634
      ],
      "bottle_quaternion_world": [
        0.7284990549087524,
        -0.00012222565419506282,
        -7.887369974923786e-06,
        0.6850468516349792
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.200000000000001,
      "clearance_m": -0.0002593398094177246,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599722743034363,
      "action": [
        0.168411985039711,
        -0.008968837559223175,
        0.08443519473075867,
        -0.00791170448064804,
        0.1258026361465454,
        6.094574928283691e-06,
        -0.9113484025001526
      ],
      "proprioception": [
        -3.2928645610809326,
        -0.39050233364105225,
        -8.848773723002523e-05,
        -1.2739251852035522,
        -1.573261022567749,
        -0.13104784488677979,
        0.06221402809023857,
        0.882526159286499,
        -0.024817347526550293,
        0.12996885180473328,
        -0.02101517654955387,
        -0.9996718764305115,
        0.014661612920463085,
        -0.9955242872238159,
        0.019571909680962563,
        -0.09245941787958145
      ],
      "bottle_position_world": [
        -0.20121927559375763,
        0.10019417107105255,
        0.8377131819725037
      ],
      "bottle_quaternion_world": [
        0.7285000681877136,
        1.3064424820186105e-05,
        0.00010338306310586631,
        0.6850457191467285
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.25,
      "clearance_m": -0.0002605915069580078,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425993949174881,
      "action": [
        0.16747666895389557,
        -0.007723487913608551,
        0.0839199423789978,
        -0.0078024789690971375,
        0.12591484189033508,
        9.541213512420654e-05,
        -0.9111257195472717
      ],
      "proprioception": [
        -3.2928247451782227,
        -0.39055854082107544,
        -8.5429783212021e-05,
        -1.2749755382537842,
        -1.5733047723770142,
        -0.13104932010173798,
        0.06256091594696045,
        0.8828033804893494,
        -0.024836746975779533,
        0.1301431804895401,
        -0.020994221791625023,
        -0.9996697306632996,
        0.014848225750029087,
        -0.9954242706298828,
        0.01951562985777855,
        -0.09354312717914581
      ],
      "bottle_position_world": [
        -0.20123137533664703,
        0.10017860680818558,
        0.8377121090888977
      ],
      "bottle_quaternion_world": [
        0.7285013794898987,
        4.346327841631137e-05,
        -9.701483213575557e-05,
        0.6850443482398987
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.3,
      "clearance_m": -0.0002586245536804199,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599958181381226,
      "action": [
        0.1664852350950241,
        -0.006359875202178955,
        0.08289828896522522,
        -0.007818780839443207,
        0.12590725719928741,
        6.733834743499756e-05,
        -0.9102035164833069
      ],
      "proprioception": [
        -3.29278302192688,
        -0.39060065150260925,
        -9.401374700246379e-05,
        -1.2759613990783691,
        -1.5733482837677002,
        -0.1310454159975052,
        0.06295156478881836,
        0.8830649256706238,
        -0.024851877242326736,
        0.13030356168746948,
        -0.02097562700510025,
        -0.999667227268219,
        0.015025174245238304,
        -0.9953290820121765,
        0.0194633137434721,
        -0.09456047415733337
      ],
      "bottle_position_world": [
        -0.20122240483760834,
        0.10019519180059433,
        0.8377139568328857
      ],
      "bottle_quaternion_world": [
        0.728502631187439,
        -1.663075090618804e-05,
        8.723435166757554e-05,
        0.6850430965423584
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.35,
      "clearance_m": -0.0002593994140625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259980320930481,
      "action": [
        0.16590143740177155,
        -0.00507606565952301,
        0.08353248238563538,
        -0.007583104074001312,
        0.12593062222003937,
        0.0006058961153030396,
        -0.9096831679344177
      ],
      "proprioception": [
        -3.292734146118164,
        -0.39065465331077576,
        -9.042314923135564e-05,
        -1.2769668102264404,
        -1.5733896493911743,
        -0.13104428350925446,
        0.06334418803453445,
        0.8833301663398743,
        -0.024860702455043793,
        0.13047099113464355,
        -0.020947471261024475,
        -0.9996652007102966,
        0.015203115530312061,
        -0.9952312111854553,
        0.01940068043768406,
        -0.09559699892997742
      ],
      "bottle_position_world": [
        -0.2012355476617813,
        0.10018138587474823,
        0.8377133011817932
      ],
      "bottle_quaternion_world": [
        0.7285037636756897,
        -6.354576271405676e-06,
        -0.00010828340600710362,
        0.6850417852401733
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.4,
      "clearance_m": -0.00026106834411621094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259955883026123,
      "action": [
        0.1646990031003952,
        -0.003913916647434235,
        0.082562655210495,
        -0.007631264626979828,
        0.12599587440490723,
        0.0007883459329605103,
        -0.9088366031646729
      ],
      "proprioception": [
        -3.292680263519287,
        -0.3907080888748169,
        -8.71528682182543e-05,
        -1.2779773473739624,
        -1.5734338760375977,
        -0.1310412436723709,
        0.06376887857913971,
        0.8835968375205994,
        -0.02486591972410679,
        0.13063916563987732,
        -0.02091684751212597,
        -0.9996631145477295,
        0.015384136699140072,
        -0.9951320886611938,
        0.019334834069013596,
        -0.09663797914981842
      ],
      "bottle_position_world": [
        -0.20121900737285614,
        0.10019123554229736,
        0.83771151304245
      ],
      "bottle_quaternion_world": [
        0.7285047769546509,
        3.7359823181759566e-05,
        8.484756108373404e-05,
        0.6850407719612122
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.450000000000001,
      "clearance_m": -0.00026035308837890625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599841952323914,
      "action": [
        0.16393588483333588,
        -0.002805463969707489,
        0.08104467391967773,
        -0.007461898028850555,
        0.12612012028694153,
        0.0008843690156936646,
        -0.9084816575050354
      ],
      "proprioception": [
        -3.2926206588745117,
        -0.39075762033462524,
        -8.365909161511809e-05,
        -1.2789957523345947,
        -1.5734783411026,
        -0.13103537261486053,
        0.06416056305170059,
        0.883865475654602,
        -0.024866648018360138,
        0.13080492615699768,
        -0.020883755758404732,
        -0.9996609687805176,
        0.015565479174256325,
        -0.9950313568115234,
        0.019266024231910706,
        -0.09768254309892654
      ],
      "bottle_position_world": [
        -0.20123396813869476,
        0.10018277913331985,
        0.837712287902832
      ],
      "bottle_quaternion_world": [
        0.7285057902336121,
        -5.676285127265146e-06,
        -8.663216431159526e-05,
        0.6850396990776062
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.5,
      "clearance_m": -0.0002588033676147461,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598992586135864,
      "action": [
        0.16302050650119781,
        -0.0016746297478675842,
        0.08017364144325256,
        -0.0073836371302604675,
        0.12616023421287537,
        0.0006468743085861206,
        -0.9077325463294983
      ],
      "proprioception": [
        -3.2925608158111572,
        -0.39079344272613525,
        -9.205846436088905e-05,
        -1.2799506187438965,
        -1.573521375656128,
        -0.13102325797080994,
        0.06456421315670013,
        0.8841192722320557,
        -0.024864256381988525,
        0.13095687329769135,
        -0.02085558883845806,
        -0.9996588230133057,
        0.015736520290374756,
        -0.9949358105659485,
        0.019203897565603256,
        -0.09866275638341904
      ],
      "bottle_position_world": [
        -0.20122192800045013,
        0.1001819521188736,
        0.8377139568328857
      ],
      "bottle_quaternion_world": [
        0.7285066246986389,
        8.508896280545741e-05,
        -3.0422722829825943e-06,
        0.6850387454032898
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.55,
      "clearance_m": -0.0002657175064086914,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600217461586,
      "action": [
        0.16235904395580292,
        -0.0006034970283508301,
        0.08117231726646423,
        -0.00710778683423996,
        0.12622860074043274,
        0.0008466392755508423,
        -0.9071323275566101
      ],
      "proprioception": [
        -3.2924957275390625,
        -0.3908422291278839,
        -8.864427218213677e-05,
        -1.2809239625930786,
        -1.5735623836517334,
        -0.13101035356521606,
        0.06497106701135635,
        0.8843759894371033,
        -0.024857234209775925,
        0.13111737370491028,
        -0.02082337625324726,
        -0.9996569752693176,
        0.015907764434814453,
        -0.9948377013206482,
        0.01913701929152012,
        -0.0996626615524292
      ],
      "bottle_position_world": [
        -0.20122411847114563,
        0.10019709914922714,
        0.837713360786438
      ],
      "bottle_quaternion_world": [
        0.7285073399543762,
        -4.310358053771779e-05,
        8.787449769442901e-05,
        0.6850379705429077
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.600000000000001,
      "clearance_m": -0.00025838613510131836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600518465042114,
      "action": [
        0.16140539944171906,
        0.0003794729709625244,
        0.07968556880950928,
        -0.0069903358817100525,
        0.1262490451335907,
        0.000863686203956604,
        -0.9063266515731812
      ],
      "proprioception": [
        -3.2924256324768066,
        -0.39088863134384155,
        -8.525283919880167e-05,
        -1.2819044589996338,
        -1.573603868484497,
        -0.13099423050880432,
        0.06540363281965256,
        0.8846346735954285,
        -0.024846026673913002,
        0.13127660751342773,
        -0.02078956551849842,
        -0.9996548295021057,
        0.016079936176538467,
        -0.9947375655174255,
        0.019067997112870216,
        -0.10066696256399155
      ],
      "bottle_position_world": [
        -0.201234832406044,
        0.100192591547966,
        0.8377142548561096
      ],
      "bottle_quaternion_world": [
        0.7285078763961792,
        -8.523234282620251e-05,
        -2.402668906142935e-05,
        0.6850374937057495
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.65,
      "clearance_m": -0.00025904178619384766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260048568248749,
      "action": [
        0.16050885617733002,
        0.0013043880462646484,
        0.07869619131088257,
        -0.006860457360744476,
        0.12642242014408112,
        0.0006320923566818237,
        -0.9059745073318481
      ],
      "proprioception": [
        -3.2923507690429688,
        -0.39093267917633057,
        -8.207145583583042e-05,
        -1.2828898429870605,
        -1.573646068572998,
        -0.13097190856933594,
        0.06579861044883728,
        0.884894847869873,
        -0.024831019341945648,
        0.13143503665924072,
        -0.020757606253027916,
        -0.9996525645256042,
        0.016252169385552406,
        -0.9946364760398865,
        0.01900043711066246,
        -0.1016739159822464
      ],
      "bottle_position_world": [
        -0.20123349130153656,
        0.10019294917583466,
        0.8377135992050171
      ],
      "bottle_quaternion_world": [
        0.7285083532333374,
        -7.841380283934996e-05,
        -1.1186032679688651e-05,
        0.6850369572639465
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.700000000000001,
      "clearance_m": -0.00026047229766845703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600569128990173,
      "action": [
        0.1597195416688919,
        0.0022350847721099854,
        0.07746994495391846,
        -0.006715200841426849,
        0.12648768723011017,
        0.00026445090770721436,
        -0.9051141142845154
      ],
      "proprioception": [
        -3.2922778129577637,
        -0.3909628689289093,
        -9.009287168737501e-05,
        -1.2838153839111328,
        -1.5736867189407349,
        -0.13094311952590942,
        0.0662204846739769,
        0.8851408958435059,
        -0.024815116077661514,
        0.13157926499843597,
        -0.020732957869768143,
        -0.9996504783630371,
        0.016414379701018333,
        -0.9945405125617981,
        0.018941931426525116,
        -0.10261958092451096
      ],
      "bottle_position_world": [
        -0.20123594999313354,
        0.10019125789403915,
        0.8377120494842529
      ],
      "bottle_quaternion_world": [
        0.7285088896751404,
        -8.310128032462671e-05,
        -4.152263863943517e-05,
        0.6850363612174988
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.75,
      "clearance_m": -0.00025969743728637695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260001480579376,
      "action": [
        0.15914659202098846,
        0.0032045766711235046,
        0.07837614417076111,
        -0.006406776607036591,
        0.12656369805335999,
        0.0004428178071975708,
        -0.9047783017158508
      ],
      "proprioception": [
        -3.2921996116638184,
        -0.3910047113895416,
        -8.668613008921966e-05,
        -1.2847589254379272,
        -1.5737242698669434,
        -0.13091358542442322,
        0.06660805642604828,
        0.885390043258667,
        -0.02479401044547558,
        0.13173100352287292,
        -0.020703952759504318,
        -0.99964839220047,
        0.016575289890170097,
        -0.99444180727005,
        0.018878567963838577,
        -0.10358349233865738
      ],
      "bottle_position_world": [
        -0.2012345939874649,
        0.10018511116504669,
        0.8377130627632141
      ],
      "bottle_quaternion_world": [
        0.7285093069076538,
        -2.790248800010886e-05,
        -7.499950152123347e-05,
        0.6850358843803406
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.8,
      "clearance_m": -0.00025838613510131836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259919822216034,
      "action": [
        0.15800686180591583,
        0.00399017333984375,
        0.07753798365592957,
        -0.006377868354320526,
        0.12667608261108398,
        0.0003200024366378784,
        -0.9037885665893555
      ],
      "proprioception": [
        -3.292117118835449,
        -0.39104658365249634,
        -8.35050959722139e-05,
        -1.285706639289856,
        -1.5737637281417847,
        -0.13087940216064453,
        0.06704153120517731,
        0.8856401443481445,
        -0.024769635871052742,
        0.13188333809375763,
        -0.020675629377365112,
        -0.9996463656425476,
        0.016738571226596832,
        -0.9943416714668274,
        0.018815230578184128,
        -0.1045515239238739
      ],
      "bottle_position_world": [
        -0.20122122764587402,
        0.10018570721149445,
        0.8377143740653992
      ],
      "bottle_quaternion_world": [
        0.7285093665122986,
        6.179587944643572e-05,
        2.8770464268745854e-05,
        0.6850358247756958
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.850000000000001,
      "clearance_m": -0.0002599358558654785,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599788308143616,
      "action": [
        0.157212033867836,
        0.004697747528553009,
        0.07603952288627625,
        -0.006278149783611298,
        0.12691184878349304,
        0.0003110915422439575,
        -0.9033493399620056
      ],
      "proprioception": [
        -3.292029857635498,
        -0.39108434319496155,
        -8.02161666797474e-05,
        -1.2866603136062622,
        -1.5738040208816528,
        -0.13084234297275543,
        0.06745689362287521,
        0.8858920335769653,
        -0.024741798639297485,
        0.1320333182811737,
        -0.020646002143621445,
        -0.9996441602706909,
        0.016902290284633636,
        -0.9942405223846436,
        0.01875019446015358,
        -0.10552114993333817
      ],
      "bottle_position_world": [
        -0.20121696591377258,
        0.10019689053297043,
        0.837712824344635
      ],
      "bottle_quaternion_world": [
        0.7285096049308777,
        8.021941539482214e-06,
        0.00013936952746007591,
        0.6850355863571167
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.9,
      "clearance_m": -0.00025981664657592773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259960353374481,
      "action": [
        0.15644879639148712,
        0.00535883754491806,
        0.0746939480304718,
        -0.006149314343929291,
        0.12706084549427032,
        0.00014705955982208252,
        -0.9025031924247742
      ],
      "proprioception": [
        -3.2919464111328125,
        -0.3911082148551941,
        -8.799888018984348e-05,
        -1.2875558137893677,
        -1.573843002319336,
        -0.13080310821533203,
        0.0678945854306221,
        0.8861302137374878,
        -0.02471466362476349,
        0.13216905295848846,
        -0.020621199160814285,
        -0.9996421337127686,
        0.017056498676538467,
        -0.9941447377204895,
        0.018691787496209145,
        -0.10643057525157928
      ],
      "bottle_position_world": [
        -0.20123548805713654,
        0.10017839074134827,
        0.8377128839492798
      ],
      "bottle_quaternion_world": [
        0.7285099029541016,
        1.533308568468783e-05,
        -0.000129703403217718,
        0.6850352883338928
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 9.950000000000001,
      "clearance_m": -0.00026744604110717773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260075092315674,
      "action": [
        0.1557295173406601,
        0.006157919764518738,
        0.07600978016853333,
        -0.0059547945857048035,
        0.12722957134246826,
        0.0004741102457046509,
        -0.9022770524024963
      ],
      "proprioception": [
        -3.291857957839966,
        -0.3911448121070862,
        -8.467362204100937e-05,
        -1.288466215133667,
        -1.5738799571990967,
        -0.13076525926589966,
        0.06827760487794876,
        0.8863707184791565,
        -0.024682950228452682,
        0.132313072681427,
        -0.02059040032327175,
        -0.9996400475502014,
        0.017211001366376877,
        -0.9940462112426758,
        0.018626777455210686,
        -0.10735665261745453
      ],
      "bottle_position_world": [
        -0.20123156905174255,
        0.10019727796316147,
        0.83771151304245
      ],
      "bottle_quaternion_world": [
        0.7285109162330627,
        -9.772306657396257e-05,
        3.3358879591105506e-05,
        0.6850342154502869
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.0,
      "clearance_m": -0.0002605319023132324,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599260807037354,
      "action": [
        0.15470053255558014,
        0.006820216774940491,
        0.07476252317428589,
        -0.0058900341391563416,
        0.12731888890266418,
        0.0004906803369522095,
        -0.9011126160621643
      ],
      "proprioception": [
        -3.2917656898498535,
        -0.39118000864982605,
        -8.12791331554763e-05,
        -1.2893825769424438,
        -1.573918342590332,
        -0.13072501122951508,
        0.06872862577438354,
        0.8866125345230103,
        -0.024648146703839302,
        0.13245663046836853,
        -0.020558349788188934,
        -0.9996381402015686,
        0.017366984859108925,
        -0.9939467310905457,
        0.01855999045073986,
        -0.10828689485788345
      ],
      "bottle_position_world": [
        -0.2012181133031845,
        0.10018804669380188,
        0.8377119898796082
      ],
      "bottle_quaternion_world": [
        0.7285116910934448,
        6.595194281544536e-05,
        6.841837603133172e-05,
        0.6850334405899048
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.05,
      "clearance_m": -0.00026220083236694336,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599716782569885,
      "action": [
        0.1538229137659073,
        0.00732605904340744,
        0.07349106669425964,
        -0.005834750831127167,
        0.12766079604625702,
        0.000536993145942688,
        -0.9008008241653442
      ],
      "proprioception": [
        -3.2916696071624756,
        -0.39121174812316895,
        -7.836096483515576e-05,
        -1.2903025150299072,
        -1.573957920074463,
        -0.1306833177804947,
        0.0691453143954277,
        0.8868555426597595,
        -0.024610567837953568,
        0.13259829580783844,
        -0.020524322986602783,
        -0.9996361136436462,
        0.01752396859228611,
        -0.9938461780548096,
        0.018490804359316826,
        -0.10921750217676163
      ],
      "bottle_position_world": [
        -0.20123647153377533,
        0.10017792880535126,
        0.8377104997634888
      ],
      "bottle_quaternion_world": [
        0.7285130023956299,
        1.1734754480130505e-05,
        -0.00014002392708789557,
        0.685032069683075
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.100000000000001,
      "clearance_m": -0.00026100873947143555,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259970784187317,
      "action": [
        0.1529403179883957,
        0.007955066859722137,
        0.07235899567604065,
        -0.005851082503795624,
        0.12784481048583984,
        0.0003806203603744507,
        -0.8997975587844849
      ],
      "proprioception": [
        -3.2915775775909424,
        -0.3912314772605896,
        -8.55515681905672e-05,
        -1.2911649942398071,
        -1.5739978551864624,
        -0.13063955307006836,
        0.06960123032331467,
        0.8870847821235657,
        -0.024574650451540947,
        0.13272736966609955,
        -0.020495768636465073,
        -0.9996339082717896,
        0.017673399299383163,
        -0.9937509298324585,
        0.018428754061460495,
        -0.11008962988853455
      ],
      "bottle_position_world": [
        -0.2012391984462738,
        0.10017616301774979,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.7285140156745911,
        5.575630439125234e-06,
        -0.0001722879969747737,
        0.685030996799469
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.15,
      "clearance_m": -0.00026041269302368164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599010467529297,
      "action": [
        0.15242283046245575,
        0.00866515189409256,
        0.0732373595237732,
        -0.005546383559703827,
        0.12804320454597473,
        0.0007916241884231567,
        -0.899756908416748
      ],
      "proprioception": [
        -3.291480541229248,
        -0.39126208424568176,
        -8.239342423621565e-05,
        -1.292043685913086,
        -1.574034333229065,
        -0.13059866428375244,
        0.06997761130332947,
        0.887316882610321,
        -0.024533601477742195,
        0.13286295533180237,
        -0.020459309220314026,
        -0.9996320605278015,
        0.01782183349132538,
        -0.9936535358428955,
        0.01835835911333561,
        -0.11097842454910278
      ],
      "bottle_position_world": [
        -0.201229527592659,
        0.10017480701208115,
        0.8377122282981873
      ],
      "bottle_quaternion_world": [
        0.7285151481628418,
        8.35883038234897e-05,
        -0.00011028045264538378,
        0.6850297451019287
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.200000000000001,
      "clearance_m": -0.0002600550651550293,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259897470474243,
      "action": [
        0.15123598277568817,
        0.00915178656578064,
        0.07265540957450867,
        -0.005527697503566742,
        0.12819719314575195,
        0.0006640404462814331,
        -0.8984941840171814
      ],
      "proprioception": [
        -3.2913804054260254,
        -0.39129358530044556,
        -7.924839883344248e-05,
        -1.2929245233535767,
        -1.5740727186203003,
        -0.13055419921875,
        0.07043052464723587,
        0.8875493407249451,
        -0.024490386247634888,
        0.13299983739852905,
        -0.020423704758286476,
        -0.9996302127838135,
        0.017971891909837723,
        -0.9935548305511475,
        0.018288295716047287,
        -0.11186986416578293
      ],
      "bottle_position_world": [
        -0.2012293040752411,
        0.10017465054988861,
        0.8377125859260559
      ],
      "bottle_quaternion_world": [
        0.7285163998603821,
        8.596129191573709e-05,
        -0.00010995617049047723,
        0.6850284337997437
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.25,
      "clearance_m": -0.0002601146697998047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599600553512573,
      "action": [
        0.15045587718486786,
        0.009615100920200348,
        0.07096612453460693,
        -0.0054703280329704285,
        0.1285189539194107,
        0.0007071346044540405,
        -0.8981245160102844
      ],
      "proprioception": [
        -3.291275978088379,
        -0.39132019877433777,
        -7.595919305458665e-05,
        -1.293810486793518,
        -1.5741122961044312,
        -0.13050824403762817,
        0.07086014002561569,
        0.887783408164978,
        -0.02444366179406643,
        0.13313305377960205,
        -0.020385487005114555,
        -0.9996283054351807,
        0.018122971057891846,
        -0.9934554696083069,
        0.018215257674455643,
        -0.11276136338710785
      ],
      "bottle_position_world": [
        -0.2012338936328888,
        0.10017959773540497,
        0.8377125859260559
      ],
      "bottle_quaternion_world": [
        0.7285179495811462,
        1.6843781850184314e-05,
        -0.0001094800463761203,
        0.6850268244743347
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.3,
      "clearance_m": -0.00026035308837890625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600423097610474,
      "action": [
        0.14968927204608917,
        0.010053031146526337,
        0.06977632641792297,
        -0.005390100181102753,
        0.12872076034545898,
        0.00045795738697052,
        -0.8971330523490906
      ],
      "proprioception": [
        -3.29117751121521,
        -0.39133429527282715,
        -8.294363942695782e-05,
        -1.2946417331695557,
        -1.5741513967514038,
        -0.13046018779277802,
        0.07132569700479507,
        0.8880043625831604,
        -0.02440042980015278,
        0.13325409591197968,
        -0.020354587584733963,
        -0.9996263384819031,
        0.018266022205352783,
        -0.9933614730834961,
        0.018151260912418365,
        -0.1135968416929245
      ],
      "bottle_position_world": [
        -0.20122459530830383,
        0.10019905120134354,
        0.837712287902832
      ],
      "bottle_quaternion_world": [
        0.728519082069397,
        -6.260116788325831e-05,
        9.677490743342787e-05,
        0.6850255727767944
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.350000000000001,
      "clearance_m": -0.0002613067626953125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259999692440033,
      "action": [
        0.14930392801761627,
        0.010547690093517303,
        0.07060304284095764,
        -0.004925154149532318,
        0.12890641391277313,
        0.0007513314485549927,
        -0.8972791433334351
      ],
      "proprioception": [
        -3.2910757064819336,
        -0.39135855436325073,
        -8.002018876140937e-05,
        -1.2954894304275513,
        -1.5741850137710571,
        -0.13041463494300842,
        0.07168308645486832,
        0.8882283568382263,
        -0.024352939799427986,
        0.13338123261928558,
        -0.020317645743489265,
        -0.9996243715286255,
        0.01840589940547943,
        -0.9932648539543152,
        0.01808103732764721,
        -0.11444921791553497
      ],
      "bottle_position_world": [
        -0.2012350708246231,
        0.10018362104892731,
        0.83771151304245
      ],
      "bottle_quaternion_world": [
        0.7285204529762268,
        -2.1532128812395968e-05,
        -9.021392179420218e-05,
        0.685024082660675
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.4,
      "clearance_m": -0.00025850534439086914,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600178718566895,
      "action": [
        0.14795227348804474,
        0.010893218219280243,
        0.07062318921089172,
        -0.0049415454268455505,
        0.12909387052059174,
        0.0003614574670791626,
        -0.8960340023040771
      ],
      "proprioception": [
        -3.2909703254699707,
        -0.3913863003253937,
        -7.699160050833598e-05,
        -1.2963370084762573,
        -1.574221134185791,
        -0.13036277890205383,
        0.07211248576641083,
        0.8884519338607788,
        -0.024302804842591286,
        0.1335112601518631,
        -0.020283836871385574,
        -0.9996223449707031,
        0.018547682091593742,
        -0.9931670427322388,
        0.01801338791847229,
        -0.11530448496341705
      ],
      "bottle_position_world": [
        -0.20123592019081116,
        0.1001868024468422,
        0.8377141356468201
      ],
      "bottle_quaternion_world": [
        0.7285207509994507,
        -5.119868365000002e-05,
        -7.380858733085915e-05,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.450000000000001,
      "clearance_m": -0.00024896860122680664,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425993949174881,
      "action": [
        0.14724348485469818,
        0.01130262017250061,
        0.06855428218841553,
        -0.004946492612361908,
        0.12938523292541504,
        0.0003218799829483032,
        -0.8954092860221863
      ],
      "proprioception": [
        -3.290861129760742,
        -0.39140784740448,
        -7.361989264609292e-05,
        -1.2971904277801514,
        -1.5742594003677368,
        -0.13030818104743958,
        0.07255961000919342,
        0.8886773586273193,
        -0.0242500938475132,
        0.13363701105117798,
        -0.020249251276254654,
        -0.9996205568313599,
        0.018691182136535645,
        -0.9930687546730042,
        0.017944546416401863,
        -0.11615899205207825
      ],
      "bottle_position_world": [
        -0.2012300044298172,
        0.10018599033355713,
        0.8377242088317871
      ],
      "bottle_quaternion_world": [
        0.7285207509994507,
        -2.9729285415669437e-06,
        -3.463879693299532e-05,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.5,
      "clearance_m": -0.00023949146270751953,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259923994541168,
      "action": [
        0.146525040268898,
        0.011560648679733276,
        0.06761053204536438,
        -0.004852883517742157,
        0.12972037494182587,
        9.794533252716064e-05,
        -0.894797682762146
      ],
      "proprioception": [
        -3.2907588481903076,
        -0.39141830801963806,
        -8.053777128225192e-05,
        -1.297990322113037,
        -1.5742968320846558,
        -0.13025283813476562,
        0.07299485057592392,
        0.8888899683952332,
        -0.024201441556215286,
        0.13375136256217957,
        -0.020221414044499397,
        -0.9996185898780823,
        0.018826808780431747,
        -0.9929758310317993,
        0.017884189262986183,
        -0.11695976555347443
      ],
      "bottle_position_world": [
        -0.20122501254081726,
        0.10019266605377197,
        0.8377332091331482
      ],
      "bottle_quaternion_world": [
        0.7285207509994507,
        -1.779483318387065e-05,
        4.98232948302757e-05,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.55,
      "clearance_m": -0.00025784969329833984,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259852468967438,
      "action": [
        0.14600525796413422,
        0.011923804879188538,
        0.06894230842590332,
        -0.004478298127651215,
        0.1299426108598709,
        0.0003551989793777466,
        -0.8947646617889404
      ],
      "proprioception": [
        -3.2906532287597656,
        -0.3914405107498169,
        -7.777341670589522e-05,
        -1.2988041639328003,
        -1.5743297338485718,
        -0.13020004332065582,
        0.0733407512307167,
        0.8891048431396484,
        -0.024148795753717422,
        0.13387316465377808,
        -0.02018759772181511,
        -0.9996165037155151,
        0.01896001398563385,
        -0.9928803443908691,
        0.01781763881444931,
        -0.11777696013450623
      ],
      "bottle_position_world": [
        -0.2012164443731308,
        0.10018050670623779,
        0.8377149105072021
      ],
      "bottle_quaternion_world": [
        0.7285207509994507,
        0.00013290750212036073,
        2.8033724447595887e-05,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.600000000000001,
      "clearance_m": -0.00025475025177001953,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259989857673645,
      "action": [
        0.14483989775180817,
        0.012211509048938751,
        0.06799611449241638,
        -0.004491053521633148,
        0.13010016083717346,
        0.00020451843738555908,
        -0.893290638923645
      ],
      "proprioception": [
        -3.2905452251434326,
        -0.39146262407302856,
        -7.446403469657525e-05,
        -1.2996203899383545,
        -1.5743649005889893,
        -0.13014382123947144,
        0.07380034774541855,
        0.8893203139305115,
        -0.024094708263874054,
        0.13399536907672882,
        -0.020155396312475204,
        -0.9996145963668823,
        0.01909523271024227,
        -0.9927840232849121,
        0.017752163112163544,
        -0.11859552562236786
      ],
      "bottle_position_world": [
        -0.20122955739498138,
        0.10019014775753021,
        0.8377177119255066
      ],
      "bottle_quaternion_world": [
        0.7285207509994507,
        -3.117764936177991e-05,
        -2.6785166937770555e-06,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.65,
      "clearance_m": -0.000254213809967041,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599374055862427,
      "action": [
        0.1441560834646225,
        0.012497380375862122,
        0.06614464521408081,
        -0.0044663771986961365,
        0.13046985864639282,
        0.000315740704536438,
        -0.8930858969688416
      ],
      "proprioception": [
        -3.290433645248413,
        -0.3914787173271179,
        -7.146193092921749e-05,
        -1.3004411458969116,
        -1.5744014978408813,
        -0.1300874501466751,
        0.0742197185754776,
        0.8895370960235596,
        -0.024037908762693405,
        0.13411302864551544,
        -0.02011999860405922,
        -0.9996127486228943,
        0.019231529906392097,
        -0.9926874041557312,
        0.017683204263448715,
        -0.11941283941268921
      ],
      "bottle_position_world": [
        -0.20121243596076965,
        0.1001979187130928,
        0.837718665599823
      ],
      "bottle_quaternion_world": [
        0.7285207509994507,
        3.151326745864935e-05,
        0.00018053146777674556,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.700000000000001,
      "clearance_m": -0.00025528669357299805,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260014295578003,
      "action": [
        0.14342622458934784,
        0.012660138309001923,
        0.0653095543384552,
        -0.004356347024440765,
        0.13073670864105225,
        6.599724292755127e-05,
        -0.8921101093292236
      ],
      "proprioception": [
        -3.2903294563293457,
        -0.3914850950241089,
        -7.78915491537191e-05,
        -1.3012105226516724,
        -1.5744367837905884,
        -0.1300305277109146,
        0.07466965913772583,
        0.8897415995597839,
        -0.023985568434000015,
        0.13422003388404846,
        -0.020091388374567032,
        -0.9996109008789062,
        0.019359827041625977,
        -0.9925959706306458,
        0.017622821033000946,
        -0.12017921358346939
      ],
      "bottle_position_world": [
        -0.2012302726507187,
        0.10019266605377197,
        0.8377171158790588
      ],
      "bottle_quaternion_world": [
        0.7285207509994507,
        -5.5223477829713374e-05,
        8.631896889710333e-06,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.75,
      "clearance_m": -0.0002612471580505371,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260007441043854,
      "action": [
        0.14289171993732452,
        0.01302819699048996,
        0.06629171967506409,
        -0.004036985337734222,
        0.13100048899650574,
        0.0004192441701889038,
        -0.8923165202140808
      ],
      "proprioception": [
        -3.290221691131592,
        -0.3915015757083893,
        -7.484170782845467e-05,
        -1.3019931316375732,
        -1.5744684934616089,
        -0.1299770325422287,
        0.07500601559877396,
        0.8899481296539307,
        -0.023929137736558914,
        0.1343335211277008,
        -0.020055774599313736,
        -0.9996091723442078,
        0.019486675038933754,
        -0.9925023913383484,
        0.017555149272084236,
        -0.12095952033996582
      ],
      "bottle_position_world": [
        -0.20122505724430084,
        0.10019304603338242,
        0.837710976600647
      ],
      "bottle_quaternion_world": [
        0.7285207509994507,
        -2.1740595911978744e-05,
        5.138175038155168e-05,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.8,
      "clearance_m": -0.0002613663673400879,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260013699531555,
      "action": [
        0.14173291623592377,
        0.013246238231658936,
        0.0659399926662445,
        -0.004059694707393646,
        0.13115453720092773,
        0.00016652047634124756,
        -0.8908786177635193
      ],
      "proprioception": [
        -3.290111780166626,
        -0.39151957631111145,
        -7.200738764367998e-05,
        -1.3027763366699219,
        -1.5745024681091309,
        -0.1299191266298294,
        0.07544516772031784,
        0.8901548385620117,
        -0.023871544748544693,
        0.13444870710372925,
        -0.02002299576997757,
        -0.9996073842048645,
        0.019615445286035538,
        -0.9924077987670898,
        0.017489798367023468,
        -0.1217421293258667
      ],
      "bottle_position_world": [
        -0.20122526586055756,
        0.10019362717866898,
        0.8377107381820679
      ],
      "bottle_quaternion_world": [
        0.7285207509994507,
        -2.7060354113928042e-05,
        5.444113412522711e-05,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.850000000000001,
      "clearance_m": -0.00025206804275512695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600589990615845,
      "action": [
        0.14104904234409332,
        0.01345331221818924,
        0.06405100226402283,
        -0.0040321871638298035,
        0.1315464973449707,
        0.00023002922534942627,
        -0.8905835151672363
      ],
      "proprioception": [
        -3.2899982929229736,
        -0.3915318250656128,
        -6.908389332238585e-05,
        -1.303564429283142,
        -1.5745381116867065,
        -0.12986063957214355,
        0.07586029917001724,
        0.8903629183769226,
        -0.02381136640906334,
        0.13455960154533386,
        -0.019987422972917557,
        -0.9996054172515869,
        0.01974557526409626,
        -0.9923129081726074,
        0.017421334981918335,
        -0.12252335250377655
      ],
      "bottle_position_world": [
        -0.20123690366744995,
        0.10019505023956299,
        0.837720513343811
      ],
      "bottle_quaternion_world": [
        0.7285207509994507,
        -0.00011976860696449876,
        -2.327773290744517e-05,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.9,
      "clearance_m": -0.00025349855422973633,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259982407093048,
      "action": [
        0.14028264582157135,
        0.013629846274852753,
        0.06331977248191833,
        -0.004032216966152191,
        0.13183310627937317,
        -3.521144390106201e-05,
        -0.8896668553352356
      ],
      "proprioception": [
        -3.2898919582366943,
        -0.3915352523326874,
        -7.537751662312075e-05,
        -1.3043025732040405,
        -1.5745737552642822,
        -0.12980137765407562,
        0.07630299776792526,
        0.8905590772628784,
        -0.02375570312142372,
        0.13466055691242218,
        -0.019958851858973503,
        -0.9996035695075989,
        0.0198688842356205,
        -0.99222332239151,
        0.01736154779791832,
        -0.1232556477189064
      ],
      "bottle_position_world": [
        -0.20122911036014557,
        0.10019021481275558,
        0.8377191424369812
      ],
      "bottle_quaternion_world": [
        0.7285207509994507,
        -2.8492633646237664e-05,
        1.5132874295886722e-06,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 10.950000000000001,
      "clearance_m": -0.00025218725204467773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599454522132874,
      "action": [
        0.13985924422740936,
        0.01391688734292984,
        0.06414180994033813,
        -0.0036624297499656677,
        0.1321217119693756,
        0.00032494962215423584,
        -0.8898387551307678
      ],
      "proprioception": [
        -3.289783000946045,
        -0.39154791831970215,
        -7.241465209517628e-05,
        -1.305053949356079,
        -1.5746049880981445,
        -0.12974587082862854,
        0.07663668692111969,
        0.8907573223114014,
        -0.02369655668735504,
        0.13476744294166565,
        -0.01992368884384632,
        -0.9996019005775452,
        0.019990142434835434,
        -0.9921315312385559,
        0.01729496940970421,
        -0.12400169670581818
      ],
      "bottle_position_world": [
        -0.20122984051704407,
        0.10018477588891983,
        0.8377199172973633
      ],
      "bottle_quaternion_world": [
        0.7285207509994507,
        7.302771336981095e-06,
        -4.26611841248814e-05,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.0,
      "clearance_m": -0.0002415180206298828,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259887635707855,
      "action": [
        0.13864542543888092,
        0.01403004676103592,
        0.06411406397819519,
        -0.003712080419063568,
        0.13233177363872528,
        6.680190563201904e-05,
        -0.8885181546211243
      ],
      "proprioception": [
        -3.2896711826324463,
        -0.3915632665157318,
        -6.964843487367034e-05,
        -1.3058043718338013,
        -1.5746386051177979,
        -0.1296863704919815,
        0.07705799490213394,
        0.8909551501274109,
        -0.02363569103181362,
        0.13487660884857178,
        -0.0198903176933527,
        -0.9996002316474915,
        0.02011347934603691,
        -0.9920390844345093,
        0.017229696735739708,
        -0.12474916875362396
      ],
      "bottle_position_world": [
        -0.20122835040092468,
        0.10018368065357208,
        0.8377311825752258
      ],
      "bottle_quaternion_world": [
        0.7285207509994507,
        2.5665680368547328e-05,
        -3.9111997466534376e-05,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.05,
      "clearance_m": -0.0002537965774536133,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260002672672272,
      "action": [
        0.13791276514530182,
        0.01413486897945404,
        0.06245062127709389,
        -0.003756873309612274,
        0.1327418088912964,
        0.00010679662227630615,
        -0.8880488872528076
      ],
      "proprioception": [
        -3.2895565032958984,
        -0.3915739059448242,
        -6.686624692520127e-05,
        -1.306558609008789,
        -1.5746748447418213,
        -0.12962621450424194,
        0.07748100161552429,
        0.8911540508270264,
        -0.0235730167478323,
        0.13498225808143616,
        -0.01985498145222664,
        -0.9995983242988586,
        0.020238900557160378,
        -0.9919460415840149,
        0.01716204732656479,
        -0.12549538910388947
      ],
      "bottle_position_world": [
        -0.20122793316841125,
        0.10019362717866898,
        0.8377182483673096
      ],
      "bottle_quaternion_world": [
        0.7285208106040955,
        -4.567595897242427e-05,
        3.413147715036757e-05,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.100000000000001,
      "clearance_m": -0.0002530217170715332,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259937107563019,
      "action": [
        0.13738302886486053,
        0.014261268079280853,
        0.060856107622385025,
        -0.003625147044658661,
        0.13299039006233215,
        -3.9950013160705566e-05,
        -0.8871069550514221
      ],
      "proprioception": [
        -3.28944993019104,
        -0.3915729820728302,
        -7.244422886287794e-05,
        -1.3072675466537476,
        -1.5747095346450806,
        -0.12956708669662476,
        0.07793871313333511,
        0.8913424015045166,
        -0.02351566217839718,
        0.13507609069347382,
        -0.019825829192996025,
        -0.9995964765548706,
        0.020356636494398117,
        -0.9918583631515503,
        0.01710241101682186,
        -0.1261940598487854
      ],
      "bottle_position_world": [
        -0.20123176276683807,
        0.10018134117126465,
        0.8377188444137573
      ],
      "bottle_quaternion_world": [
        0.7285208106040955,
        1.99447495106142e-05,
        -8.212742250179872e-05,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.15,
      "clearance_m": -0.00025850534439086914,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260043799877167,
      "action": [
        0.13686631619930267,
        0.014437749981880188,
        0.062306229025125504,
        -0.0032284483313560486,
        0.1333434283733368,
        0.00028748810291290283,
        -0.8876650333404541
      ],
      "proprioception": [
        -3.2893409729003906,
        -0.3915824294090271,
        -6.990032125031576e-05,
        -1.3079869747161865,
        -1.5747393369674683,
        -0.1295119822025299,
        0.07823053747415543,
        0.891532301902771,
        -0.023454824462532997,
        0.13517653942108154,
        -0.019789909943938255,
        -0.9995948076248169,
        0.020471695810556412,
        -0.9917687177658081,
        0.017035916447639465,
        -0.12690573930740356
      ],
      "bottle_position_world": [
        -0.20122303068637848,
        0.10020162910223007,
        0.8377143144607544
      ],
      "bottle_quaternion_world": [
        0.7285208106040955,
        -7.086730329319835e-05,
        0.0001263158192159608,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.200000000000001,
      "clearance_m": -0.0002574920654296875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260021448135376,
      "action": [
        0.1357393115758896,
        0.01450173556804657,
        0.0621364451944828,
        -0.003192506730556488,
        0.1334356665611267,
        -0.00012476742267608643,
        -0.8860160708427429
      ],
      "proprioception": [
        -3.2892303466796875,
        -0.39159443974494934,
        -6.720986857544631e-05,
        -1.3087068796157837,
        -1.5747703313827515,
        -0.12945128977298737,
        0.07865279167890549,
        0.8917220830917358,
        -0.023392850533127785,
        0.13527965545654297,
        -0.019758382812142372,
        -0.9995930790901184,
        0.020587600767612457,
        -0.9916781783103943,
        0.016973454505205154,
        -0.12762010097503662
      ],
      "bottle_position_world": [
        -0.20122140645980835,
        0.10020043700933456,
        0.8377154469490051
      ],
      "bottle_quaternion_world": [
        0.7285208106040955,
        -5.079952461528592e-05,
        0.00013017092715017498,
        0.6850237250328064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.25,
      "clearance_m": -0.00025647878646850586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599955201148987,
      "action": [
        0.13509796559810638,
        0.014544576406478882,
        0.060199085623025894,
        -0.003209732472896576,
        0.13385248184204102,
        -9.401142597198486e-05,
        -0.8857709169387817
      ],
      "proprioception": [
        -3.289116859436035,
        -0.3916006088256836,
        -6.422675505746156e-05,
        -1.3094308376312256,
        -1.5748035907745361,
        -0.1293899267911911,
        0.0790569856762886,
        0.8919129967689514,
        -0.023329099640250206,
        0.13537797331809998,
        -0.019724838435649872,
        -0.9995913505554199,
        0.020705047994852066,
        -0.9915872812271118,
        0.016908664256334305,
        -0.12833215296268463
      ],
      "bottle_position_world": [
        -0.20122267305850983,
        0.10019602626562119,
        0.8377161622047424
      ],
      "bottle_quaternion_world": [
        0.7285206913948059,
        -2.657378172443714e-05,
        9.018112177727744e-05,
        0.6850237846374512
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.3,
      "clearance_m": -0.00025779008865356445,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260047972202301,
      "action": [
        0.13442231714725494,
        0.014569297432899475,
        0.05940240994095802,
        -0.003170125186443329,
        0.134158656001091,
        -0.00037203729152679443,
        -0.8848491907119751
      ],
      "proprioception": [
        -3.289011240005493,
        -0.39159858226776123,
        -6.958174344617873e-05,
        -1.3101091384887695,
        -1.5748366117477417,
        -0.12932847440242767,
        0.07948994636535645,
        0.8920929431915283,
        -0.02327057532966137,
        0.1354672610759735,
        -0.01969827339053154,
        -0.9995895028114319,
        0.020816462114453316,
        -0.9915017485618591,
        0.01685246080160141,
        -0.12899944186210632
      ],
      "bottle_position_world": [
        -0.20123392343521118,
        0.10019302368164062,
        0.8377145528793335
      ],
      "bottle_quaternion_world": [
        0.7285208702087402,
        -8.357577462447807e-05,
        -1.3688460057892371e-05,
        0.6850236058235168
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.350000000000001,
      "clearance_m": -0.00025975704193115234,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259903132915497,
      "action": [
        0.1340225487947464,
        0.014768525958061218,
        0.060249391943216324,
        -0.002806924283504486,
        0.13445886969566345,
        -2.370774745941162e-05,
        -0.8852142095565796
      ],
      "proprioception": [
        -3.288902521133423,
        -0.39160478115081787,
        -6.72384412609972e-05,
        -1.3107986450195312,
        -1.5748649835586548,
        -0.12927085161209106,
        0.07979010045528412,
        0.8922749161720276,
        -0.02320827543735504,
        0.13556167483329773,
        -0.01966477744281292,
        -0.9995880722999573,
        0.020924892276525497,
        -0.9914143085479736,
        0.016789326444268227,
        -0.12967875599861145
      ],
      "bottle_position_world": [
        -0.2012266367673874,
        0.10017788410186768,
        0.837712824344635
      ],
      "bottle_quaternion_world": [
        0.7285215854644775,
        8.137706754496321e-05,
        -6.650664727203548e-05,
        0.6850228905677795
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.4,
      "clearance_m": -0.00025784969329833984,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259970486164093,
      "action": [
        0.13280494511127472,
        0.014798715710639954,
        0.06040302291512489,
        -0.0029007717967033386,
        0.13466599583625793,
        -0.0003506988286972046,
        -0.8836954236030579
      ],
      "proprioception": [
        -3.288792610168457,
        -0.39161446690559387,
        -6.466367631219327e-05,
        -1.311486840248108,
        -1.5748964548110962,
        -0.1292085200548172,
        0.08020711690187454,
        0.8924562931060791,
        -0.023145709186792374,
        0.1356588751077652,
        -0.019635187461972237,
        -0.9995860457420349,
        0.02103647217154503,
        -0.9913257956504822,
        0.016729455441236496,
        -0.1303597092628479
      ],
      "bottle_position_world": [
        -0.201232448220253,
        0.10018349438905716,
        0.8377148509025574
      ],
      "bottle_quaternion_world": [
        0.7285219430923462,
        -1.5985189065759187e-06,
        -7.02232209732756e-05,
        0.6850224733352661
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.450000000000001,
      "clearance_m": -0.000254213809967041,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598897218704224,
      "action": [
        0.13224248588085175,
        0.014886640012264252,
        0.05833152309060097,
        -0.0029172226786613464,
        0.13505348563194275,
        -0.00022505223751068115,
        -0.8833884000778198
      ],
      "proprioception": [
        -3.288679361343384,
        -0.39161765575408936,
        -6.168949767015874e-05,
        -1.3121800422668457,
        -1.5749300718307495,
        -0.12914659082889557,
        0.08061157912015915,
        0.8926389813423157,
        -0.02308056689798832,
        0.13575124740600586,
        -0.019601956009864807,
        -0.9995842576026917,
        0.021149441599845886,
        -0.9912373423576355,
        0.016665711998939514,
        -0.13103823363780975
      ],
      "bottle_position_world": [
        -0.20122061669826508,
        0.10018410533666611,
        0.8377186059951782
      ],
      "bottle_quaternion_world": [
        0.7285219430923462,
        7.713747618254274e-05,
        2.2432799596572295e-05,
        0.6850224733352661
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.5,
      "clearance_m": -0.00025922060012817383,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598992586135864,
      "action": [
        0.13160185515880585,
        0.0148216113448143,
        0.05763888731598854,
        -0.0028418824076652527,
        0.13538309931755066,
        -0.00043629109859466553,
        -0.8825212121009827
      ],
      "proprioception": [
        -3.288574457168579,
        -0.3916132152080536,
        -6.71475863782689e-05,
        -1.312828540802002,
        -1.5749624967575073,
        -0.12908579409122467,
        0.08103948086500168,
        0.8928110599517822,
        -0.023021424189209938,
        0.13583488762378693,
        -0.01957535184919834,
        -0.9995827078819275,
        0.02125595137476921,
        -0.9911541938781738,
        0.016610246151685715,
        -0.1316736340522766
      ],
      "bottle_position_world": [
        -0.20122025907039642,
        0.10018306970596313,
        0.8377133011817932
      ],
      "bottle_quaternion_world": [
        0.728522539138794,
        8.721169433556497e-05,
        1.772370160324499e-05,
        0.6850218772888184
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.55,
      "clearance_m": -0.0002614259719848633,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600101232528687,
      "action": [
        0.13121460378170013,
        0.014935716986656189,
        0.05842471495270729,
        -0.0024561211466789246,
        0.13567602634429932,
        -4.5612454414367676e-05,
        -0.8828477263450623
      ],
      "proprioception": [
        -3.2884671688079834,
        -0.3916168510913849,
        -6.457440758822486e-05,
        -1.3134883642196655,
        -1.5749900341033936,
        -0.12902972102165222,
        0.08133915811777115,
        0.8929851055145264,
        -0.022958828136324883,
        0.13592326641082764,
        -0.019541162997484207,
        -0.9995811581611633,
        0.021359428763389587,
        -0.9910691380500793,
        0.016547251492738724,
        -0.13232092559337616
      ],
      "bottle_position_world": [
        -0.20122210681438446,
        0.10019606351852417,
        0.8377112150192261
      ],
      "bottle_quaternion_world": [
        0.7285236716270447,
        -2.2974532839725725e-05,
        9.560509352013469e-05,
        0.6850207448005676
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.600000000000001,
      "clearance_m": -0.00025856494903564453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260040819644928,
      "action": [
        0.1301148384809494,
        0.014888793230056763,
        0.05849495902657509,
        -0.0024611279368400574,
        0.1358368694782257,
        -0.0003798156976699829,
        -0.8814907670021057
      ],
      "proprioception": [
        -3.288358449935913,
        -0.3916228413581848,
        -6.226014374988154e-05,
        -1.3141473531723022,
        -1.575019359588623,
        -0.12896943092346191,
        0.08173467963933945,
        0.8931587934494019,
        -0.022895244881510735,
        0.13601429760456085,
        -0.019510148093104362,
        -0.9995794296264648,
        0.021464597433805466,
        -0.9909831881523132,
        0.016486993059515953,
        -0.13296985626220703
      ],
      "bottle_position_world": [
        -0.20123519003391266,
        0.1001906618475914,
        0.8377140760421753
      ],
      "bottle_quaternion_world": [
        0.7285243272781372,
        -7.480663771275431e-05,
        -3.970114266849123e-05,
        0.6850199699401855
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.65,
      "clearance_m": -0.00025916099548339844,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260050058364868,
      "action": [
        0.12943483889102936,
        0.014896951615810394,
        0.05695286765694618,
        -0.0025037452578544617,
        0.136245995759964,
        -0.0004019886255264282,
        -0.8811967968940735
      ],
      "proprioception": [
        -3.288247585296631,
        -0.3916248381137848,
        -5.943623909843154e-05,
        -1.3148094415664673,
        -1.575050950050354,
        -0.12890803813934326,
        0.08211550861597061,
        0.8933330774307251,
        -0.022830719128251076,
        0.1361018717288971,
        -0.01947856694459915,
        -0.9995779991149902,
        0.02157112956047058,
        -0.9908972382545471,
        0.016425900161266327,
        -0.13361704349517822
      ],
      "bottle_position_world": [
        -0.20123973488807678,
        0.10018785297870636,
        0.8377135992050171
      ],
      "bottle_quaternion_world": [
        0.7285245060920715,
        -8.598497515777126e-05,
        -9.389365004608408e-05,
        0.6850197315216064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.700000000000001,
      "clearance_m": -0.00026416778564453125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600229382514954,
      "action": [
        0.12884818017482758,
        0.01492193341255188,
        0.056084368377923965,
        -0.0024827346205711365,
        0.13652417063713074,
        -0.0006559640169143677,
        -0.8802991509437561
      ],
      "proprioception": [
        -3.2881438732147217,
        -0.39161908626556396,
        -6.455550465034321e-05,
        -1.315429449081421,
        -1.575082540512085,
        -0.128846675157547,
        0.08252990990877151,
        0.8934975862503052,
        -0.022770851850509644,
        0.1361810714006424,
        -0.01945303939282894,
        -0.9995760917663574,
        0.02167261764407158,
        -0.9908161759376526,
        0.016372334212064743,
        -0.13422293961048126
      ],
      "bottle_position_world": [
        -0.20122848451137543,
        0.10019415616989136,
        0.8377146124839783
      ],
      "bottle_quaternion_world": [
        0.7285245656967163,
        -5.358931593946181e-05,
        3.473572724033147e-05,
        0.6850196719169617
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.75,
      "clearance_m": -0.00026035308837890625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600348591804504,
      "action": [
        0.1285591572523117,
        0.014988891780376434,
        0.056747112423181534,
        -0.0020710155367851257,
        0.13682034611701965,
        -0.0003163665533065796,
        -0.8806267380714417
      ],
      "proprioception": [
        -3.2880382537841797,
        -0.39162030816078186,
        -6.210549327079207e-05,
        -1.3160611391067505,
        -1.5751090049743652,
        -0.12878942489624023,
        0.08282066136598587,
        0.8936641216278076,
        -0.022708145901560783,
        0.13626429438591003,
        -0.019421137869358063,
        -0.9995744824409485,
        0.021770603954792023,
        -0.9907332062721252,
        0.016312528401613235,
        -0.13484017550945282
      ],
      "bottle_position_world": [
        -0.201225146651268,
        0.1001974567770958,
        0.8377121686935425
      ],
      "bottle_quaternion_world": [
        0.728524923324585,
        -5.471320037031546e-05,
        8.326217357534915e-05,
        0.6850193738937378
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.8,
      "clearance_m": -0.0002600550651550293,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600053548812866,
      "action": [
        0.12746234238147736,
        0.014885693788528442,
        0.05694058910012245,
        -0.0020756348967552185,
        0.13700833916664124,
        -0.0006610602140426636,
        -0.8793279528617859
      ],
      "proprioception": [
        -3.287931442260742,
        -0.3916245996952057,
        -5.987951226416044e-05,
        -1.316691279411316,
        -1.5751368999481201,
        -0.1287280172109604,
        0.08320174366235733,
        0.8938299417495728,
        -0.02264474146068096,
        0.13635024428367615,
        -0.019392529502511024,
        -0.9995729327201843,
        0.021869972348213196,
        -0.9906498193740845,
        0.016255639493465424,
        -0.1354590356349945
      ],
      "bottle_position_world": [
        -0.20123936235904694,
        0.10018143802881241,
        0.8377128839492798
      ],
      "bottle_quaternion_world": [
        0.7285252809524536,
        -3.526219370542094e-05,
        -0.00013565836707130075,
        0.6850189566612244
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.850000000000001,
      "clearance_m": -0.00025856494903564453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600157856941223,
      "action": [
        0.12674765288829803,
        0.014864705502986908,
        0.0554795004427433,
        -0.0021630749106407166,
        0.1374284327030182,
        -0.0006652623414993286,
        -0.8789574503898621
      ],
      "proprioception": [
        -3.2878224849700928,
        -0.39162516593933105,
        -5.712396159651689e-05,
        -1.3173232078552246,
        -1.5751680135726929,
        -0.12866592407226562,
        0.08357995003461838,
        0.8939963579177856,
        -0.022580431774258614,
        0.13643300533294678,
        -0.019363095983862877,
        -0.9995713233947754,
        0.02197173610329628,
        -0.9905663132667542,
        0.01619754359126091,
        -0.13607534766197205
      ],
      "bottle_position_world": [
        -0.20122365653514862,
        0.1001969501376152,
        0.8377140164375305
      ],
      "bottle_quaternion_world": [
        0.7285253405570984,
        -4.020989217679016e-05,
        9.126698569161817e-05,
        0.6850188970565796
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.9,
      "clearance_m": -0.00026035308837890625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599913477897644,
      "action": [
        0.12629325687885284,
        0.014779284596443176,
        0.05435166135430336,
        -0.0020620152354240417,
        0.13770723342895508,
        -0.0008469074964523315,
        -0.8781095147132874
      ],
      "proprioception": [
        -3.287722110748291,
        -0.39161714911460876,
        -6.194819434313104e-05,
        -1.3179166316986084,
        -1.5751979351043701,
        -0.12860526144504547,
        0.08398851007223129,
        0.8941537141799927,
        -0.022521965205669403,
        0.13650701940059662,
        -0.019339783117175102,
        -0.9995695352554321,
        0.022067386656999588,
        -0.9904874563217163,
        0.016147179529070854,
        -0.1366523951292038
      ],
      "bottle_position_world": [
        -0.20123575627803802,
        0.10018228739500046,
        0.8377123475074768
      ],
      "bottle_quaternion_world": [
        0.72852623462677,
        -1.6411295291618444e-05,
        -0.00010290533828083426,
        0.6850179433822632
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 11.950000000000001,
      "clearance_m": -0.00025969743728637695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259905517101288,
      "action": [
        0.12588466703891754,
        0.014858737587928772,
        0.0554412342607975,
        -0.0017476901412010193,
        0.13802242279052734,
        -0.0004516392946243286,
        -0.8786055445671082
      ],
      "proprioception": [
        -3.287619113922119,
        -0.3916175067424774,
        -5.967668766970746e-05,
        -1.3185189962387085,
        -1.5752232074737549,
        -0.1285494714975357,
        0.08424985408782959,
        0.89431232213974,
        -0.02245994657278061,
        0.13658611476421356,
        -0.019308513030409813,
        -0.9995681047439575,
        0.0221603661775589,
        -0.9904072284698486,
        0.01608891598880291,
        -0.1372404396533966
      ],
      "bottle_position_world": [
        -0.20121702551841736,
        0.10018662363290787,
        0.8377130627632141
      ],
      "bottle_quaternion_world": [
        0.7285270690917969,
        8.37284533190541e-05,
        6.73594549880363e-05,
        0.6850171089172363
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.0,
      "clearance_m": -0.0002593994140625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260067939758301,
      "action": [
        0.12477739155292511,
        0.014711529016494751,
        0.05567515268921852,
        -0.0017778798937797546,
        0.13821446895599365,
        -0.0008054524660110474,
        -0.8770851492881775
      ],
      "proprioception": [
        -3.2875149250030518,
        -0.39162153005599976,
        -5.749419506173581e-05,
        -1.3191190958023071,
        -1.5752506256103516,
        -0.12848952412605286,
        0.08463378250598907,
        0.8944701552391052,
        -0.02239748276770115,
        0.13666830956935883,
        -0.019280757755041122,
        -0.9995665550231934,
        0.022255172953009605,
        -0.9903265237808228,
        0.01603376492857933,
        -0.13782942295074463
      ],
      "bottle_position_world": [
        -0.20123733580112457,
        0.10019217431545258,
        0.8377131819725037
      ],
      "bottle_quaternion_world": [
        0.7285282015800476,
        -0.00010121500963578,
        -4.5185934141045436e-05,
        0.6850157976150513
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.05,
      "clearance_m": -0.0002586245536804199,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598956823349,
      "action": [
        0.12425108253955841,
        0.01469247043132782,
        0.05369583144783974,
        -0.0018149837851524353,
        0.13858716189861298,
        -0.0007077306509017944,
        -0.8768354058265686
      ],
      "proprioception": [
        -3.2874088287353516,
        -0.39161938428878784,
        -5.4703054047422484e-05,
        -1.3197236061096191,
        -1.5752800703048706,
        -0.12842999398708344,
        0.08500595390796661,
        0.894629180431366,
        -0.02233392745256424,
        0.13674528896808624,
        -0.019250942394137383,
        -0.9995649456977844,
        0.02235155925154686,
        -0.990245521068573,
        0.015976283699274063,
        -0.13841578364372253
      ],
      "bottle_position_world": [
        -0.20121967792510986,
        0.10018352419137955,
        0.8377141952514648
      ],
      "bottle_quaternion_world": [
        0.7285293936729431,
        8.757388422964141e-05,
        2.5522338546579704e-05,
        0.6850146055221558
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.100000000000001,
      "clearance_m": -0.00025904178619384766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600610852241516,
      "action": [
        0.12366162240505219,
        0.014549650251865387,
        0.05319920554757118,
        -0.001765124499797821,
        0.13892441987991333,
        -0.0009249001741409302,
        -0.8760546445846558
      ],
      "proprioception": [
        -3.28731107711792,
        -0.3916110694408417,
        -5.925937512074597e-05,
        -1.320289134979248,
        -1.575309157371521,
        -0.12837162613868713,
        0.08539603650569916,
        0.8947790265083313,
        -0.02227637730538845,
        0.13681548833847046,
        -0.019227586686611176,
        -0.9995633363723755,
        0.02244284749031067,
        -0.9901694059371948,
        0.01592673547565937,
        -0.13896501064300537
      ],
      "bottle_position_world": [
        -0.20123335719108582,
        0.10019484907388687,
        0.8377135992050171
      ],
      "bottle_quaternion_world": [
        0.7285304069519043,
        -9.355378278996795e-05,
        4.004486072517466e-06,
        0.6850135326385498
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.15,
      "clearance_m": -0.0002593994140625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259902238845825,
      "action": [
        0.12338058650493622,
        0.014620445668697357,
        0.05386880412697792,
        -0.0013869628310203552,
        0.1391771137714386,
        -0.0005519837141036987,
        -0.8764909505844116
      ],
      "proprioception": [
        -3.2872114181518555,
        -0.39160943031311035,
        -5.729735130444169e-05,
        -1.3208644390106201,
        -1.5753329992294312,
        -0.1283177137374878,
        0.08564957976341248,
        0.8949305415153503,
        -0.022215750068426132,
        0.13688984513282776,
        -0.01919708400964737,
        -0.9995620250701904,
        0.022530846297740936,
        -0.9900916218757629,
        0.01587018556892872,
        -0.1395246982574463
      ],
      "bottle_position_world": [
        -0.20122414827346802,
        0.10018022358417511,
        0.837713360786438
      ],
      "bottle_quaternion_world": [
        0.7285314798355103,
        8.019211963983253e-05,
        -3.098607703577727e-05,
        0.6850124001502991
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.200000000000001,
      "clearance_m": -0.00025969743728637695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600688338279724,
      "action": [
        0.1222260445356369,
        0.01449180394411087,
        0.054479602724313736,
        -0.0014618560671806335,
        0.1394023895263672,
        -0.0009121149778366089,
        -0.8751978278160095
      ],
      "proprioception": [
        -3.2871103286743164,
        -0.39161285758018494,
        -5.504548971657641e-05,
        -1.3214364051818848,
        -1.575359582901001,
        -0.1282595694065094,
        0.08599831163883209,
        0.8950807452201843,
        -0.02215437963604927,
        0.13696809113025665,
        -0.019170014187693596,
        -0.999560534954071,
        0.022621074691414833,
        -0.9900132417678833,
        0.015816612169146538,
        -0.1400853842496872
      ],
      "bottle_position_world": [
        -0.20122963190078735,
        0.10019876807928085,
        0.837712824344635
      ],
      "bottle_quaternion_world": [
        0.7285324931144714,
        -9.681648953119293e-05,
        5.901187614654191e-05,
        0.6850112676620483
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.25,
      "clearance_m": -0.00026094913482666016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599889636039734,
      "action": [
        0.12179364264011383,
        0.014455579221248627,
        0.05245286598801613,
        -0.0014613494277000427,
        0.13969862461090088,
        -0.000883832573890686,
        -0.8747373223304749
      ],
      "proprioception": [
        -3.2870070934295654,
        -0.39160996675491333,
        -5.250260801403783e-05,
        -1.3220129013061523,
        -1.5753873586654663,
        -0.12820124626159668,
        0.08636575192213058,
        0.8952324390411377,
        -0.022091791033744812,
        0.13704127073287964,
        -0.019141359254717827,
        -0.9995589852333069,
        0.022711940109729767,
        -0.989935040473938,
        0.01576133817434311,
        -0.1406438648700714
      ],
      "bottle_position_world": [
        -0.20121921598911285,
        0.10019584000110626,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.7285342812538147,
        -1.367651407235826e-06,
        0.0001155655991169624,
        0.6850094199180603
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.3,
      "clearance_m": -0.00026673078536987305,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259883165359497,
      "action": [
        0.12128014862537384,
        0.014282569289207458,
        0.051716480404138565,
        -0.0013742074370384216,
        0.1400347352027893,
        -0.0011019855737686157,
        -0.8741030693054199
      ],
      "proprioception": [
        -3.286912202835083,
        -0.39160028100013733,
        -5.683149356627837e-05,
        -1.322553038597107,
        -1.5754144191741943,
        -0.12814398109912872,
        0.0867396891117096,
        0.8953754305839539,
        -0.02203512378036976,
        0.13710691034793854,
        -0.019118979573249817,
        -0.9995576739311218,
        0.022797897458076477,
        -0.9898614287376404,
        0.015713756904006004,
        -0.1411667764186859
      ],
      "bottle_position_world": [
        -0.20122605562210083,
        0.10017528384923935,
        0.8377122282981873
      ],
      "bottle_quaternion_world": [
        0.7285358309745789,
        0.00010332687816116959,
        -8.031058678170666e-05,
        0.6850077509880066
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.350000000000001,
      "clearance_m": -0.0002613067626953125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259970188140869,
      "action": [
        0.12083639204502106,
        0.014297984540462494,
        0.052904341369867325,
        -0.0011098608374595642,
        0.14034941792488098,
        -0.0007748454809188843,
        -0.8744856119155884
      ],
      "proprioception": [
        -3.2868146896362305,
        -0.3915989100933075,
        -5.4771851864643395e-05,
        -1.3231000900268555,
        -1.5754380226135254,
        -0.1280907839536667,
        0.08698367327451706,
        0.8955193758010864,
        -0.02197537198662758,
        0.13717804849147797,
        -0.01908986084163189,
        -0.9995560050010681,
        0.022881880402565002,
        -0.9897860884666443,
        0.015659477561712265,
        -0.14169874787330627
      ],
      "bottle_position_world": [
        -0.2012372463941574,
        0.10017753392457962,
        0.8377113938331604
      ],
      "bottle_quaternion_world": [
        0.728537380695343,
        7.802500476827845e-06,
        -0.00014767676475457847,
        0.6850060820579529
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.4,
      "clearance_m": -0.00026094913482666016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259927272796631,
      "action": [
        0.11983771622180939,
        0.01425982266664505,
        0.052918437868356705,
        -0.0012012943625450134,
        0.14049065113067627,
        -0.0011020153760910034,
        -0.8730531334877014
      ],
      "proprioception": [
        -3.2867162227630615,
        -0.3916004002094269,
        -5.2818395488429815e-05,
        -1.323645830154419,
        -1.5754642486572266,
        -0.12803329527378082,
        0.08734685927629471,
        0.8956626653671265,
        -0.021915331482887268,
        0.1372516006231308,
        -0.019064409658312798,
        -0.9995546340942383,
        0.02296813204884529,
        -0.9897105693817139,
        0.01560838520526886,
        -0.14223186671733856
      ],
      "bottle_position_world": [
        -0.20123478770256042,
        0.10017378628253937,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.7285386919975281,
        5.3117761126486585e-05,
        -0.00015606738452333957,
        0.6850047707557678
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.450000000000001,
      "clearance_m": -0.0002601146697998047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599934339523315,
      "action": [
        0.11937837302684784,
        0.014200843870639801,
        0.05119979754090309,
        -0.0011991187930107117,
        0.14088031649589539,
        -0.0010234266519546509,
        -0.8728592395782471
      ],
      "proprioception": [
        -3.286616325378418,
        -0.3915964663028717,
        -5.032280387240462e-05,
        -1.3241949081420898,
        -1.5754919052124023,
        -0.12797634303569794,
        0.08769282698631287,
        0.8958069086074829,
        -0.021854311227798462,
        0.13732048869132996,
        -0.019037017598748207,
        -0.9995530247688293,
        0.023055125027894974,
        -0.9896348714828491,
        0.01555522158741951,
        -0.14276234805583954
      ],
      "bottle_position_world": [
        -0.2012387067079544,
        0.10018012672662735,
        0.8377125263214111
      ],
      "bottle_quaternion_world": [
        0.7285400629043579,
        -2.180238334403839e-05,
        -0.00014083043788559735,
        0.6850032806396484
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.5,
      "clearance_m": -0.00026094913482666016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599013447761536,
      "action": [
        0.11889638006687164,
        0.014113299548625946,
        0.050605300813913345,
        -0.001129738986492157,
        0.1411246657371521,
        -0.0012648552656173706,
        -0.8720957636833191
      ],
      "proprioception": [
        -3.2865238189697266,
        -0.3915867209434509,
        -5.434206468635239e-05,
        -1.324709415435791,
        -1.5755187273025513,
        -0.12791982293128967,
        0.08805911242961884,
        0.8959431052207947,
        -0.021798592060804367,
        0.1373828798532486,
        -0.019015910103917122,
        -0.9995515942573547,
        0.023137444630265236,
        -0.9895637631416321,
        0.01550972368568182,
        -0.14325955510139465
      ],
      "bottle_position_world": [
        -0.20123034715652466,
        0.10017388314008713,
        0.8377116918563843
      ],
      "bottle_quaternion_world": [
        0.7285414934158325,
        8.372742013307288e-05,
        -0.00012291749590076506,
        0.6850017309188843
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.55,
      "clearance_m": -0.00026041269302368164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598557472229004,
      "action": [
        0.1185733824968338,
        0.01409069076180458,
        0.05148253217339516,
        -0.0007724985480308533,
        0.14142480492591858,
        -0.000943109393119812,
        -0.8725665211677551
      ],
      "proprioception": [
        -3.2864294052124023,
        -0.3915838599205017,
        -5.243528357823379e-05,
        -1.3252320289611816,
        -1.5755410194396973,
        -0.12786765396595,
        0.0882897898554802,
        0.8960806131362915,
        -0.021740080788731575,
        0.13744963705539703,
        -0.01898816227912903,
        -0.9995504021644592,
        0.02321668714284897,
        -0.9894912242889404,
        0.015457767061889172,
        -0.14376623928546906
      ],
      "bottle_position_world": [
        -0.20121723413467407,
        0.10017898678779602,
        0.837712287902832
      ],
      "bottle_quaternion_world": [
        0.728543221950531,
        0.00013822143955621868,
        1.12139132397715e-05,
        0.684999942779541
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.600000000000001,
      "clearance_m": -0.00025981664657592773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599019408226013,
      "action": [
        0.11757971346378326,
        0.01389683410525322,
        0.0517880953848362,
        -0.0008100196719169617,
        0.14157773554325104,
        -0.0013192743062973022,
        -0.8711699843406677
      ],
      "proprioception": [
        -3.286334276199341,
        -0.391584575176239,
        -5.049945684731938e-05,
        -1.32575261592865,
        -1.5755650997161865,
        -0.12781113386154175,
        0.08863510191440582,
        0.8962172269821167,
        -0.021681299433112144,
        0.13751932978630066,
        -0.018964476883411407,
        -0.9995490312576294,
        0.023297453299164772,
        -0.989418089389801,
        0.015409507788717747,
        -0.1442742794752121
      ],
      "bottle_position_world": [
        -0.20121465623378754,
        0.10018815100193024,
        0.8377130627632141
      ],
      "bottle_quaternion_world": [
        0.7285448908805847,
        8.862173854140565e-05,
        9.541725739836693e-05,
        0.6849981546401978
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.65,
      "clearance_m": -0.0002608299255371094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600029706954956,
      "action": [
        0.11716742813587189,
        0.013754289597272873,
        0.04997408762574196,
        -0.0008062347769737244,
        0.14192509651184082,
        -0.0012621134519577026,
        -0.8709127902984619
      ],
      "proprioception": [
        -3.286238193511963,
        -0.3915794789791107,
        -4.826498843613081e-05,
        -1.3262768983840942,
        -1.5755902528762817,
        -0.1277553290128708,
        0.0889754593372345,
        0.8963549137115479,
        -0.02162213809788227,
        0.13758443295955658,
        -0.01893920823931694,
        -0.9995473027229309,
        0.023378849029541016,
        -0.9893447160720825,
        0.015359553508460522,
        -0.1447795182466507
      ],
      "bottle_position_world": [
        -0.2012176513671875,
        0.10019919276237488,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.7285465002059937,
        -1.4789243323320989e-05,
        0.00015130308747757226,
        0.6849963665008545
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.700000000000001,
      "clearance_m": -0.0002600550651550293,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260062873363495,
      "action": [
        0.11673273146152496,
        0.013578467071056366,
        0.049324098974466324,
        -0.0006974563002586365,
        0.14219233393669128,
        -0.0014878064393997192,
        -0.8702961802482605
      ],
      "proprioception": [
        -3.2861499786376953,
        -0.3915688097476959,
        -5.192444587009959e-05,
        -1.3267680406570435,
        -1.5756144523620605,
        -0.12770043313503265,
        0.08931948244571686,
        0.8964846730232239,
        -0.021568663418293,
        0.13764309883117676,
        -0.01892014406621456,
        -0.9995459318161011,
        0.02345534786581993,
        -0.989276111125946,
        0.015317225828766823,
        -0.14525283873081207
      ],
      "bottle_position_world": [
        -0.20124496519565582,
        0.10018467158079147,
        0.8377127051353455
      ],
      "bottle_quaternion_world": [
        0.7285481691360474,
        -9.928757935995236e-05,
        -0.00015488883946090937,
        0.684994637966156
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.75,
      "clearance_m": -0.0002600550651550293,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259859621524811,
      "action": [
        0.11631794273853302,
        0.013627160340547562,
        0.05052808299660683,
        -0.00044446438550949097,
        0.14246588945388794,
        -0.001196637749671936,
        -0.8708444833755493
      ],
      "proprioception": [
        -3.286060094833374,
        -0.39156606793403625,
        -5.041744589107111e-05,
        -1.3272650241851807,
        -1.5756354331970215,
        -0.12764905393123627,
        0.08951810002326965,
        0.8966154456138611,
        -0.021512625738978386,
        0.1377069354057312,
        -0.018895603716373444,
        -0.999544620513916,
        0.023529961705207825,
        -0.9892059564590454,
        0.015269444324076176,
        -0.14573490619659424
      ],
      "bottle_position_world": [
        -0.20121276378631592,
        0.10018362104892731,
        0.8377127647399902
      ],
      "bottle_quaternion_world": [
        0.7285497188568115,
        0.00013546529226005077,
        7.709702185820788e-05,
        0.6849929690361023
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.8,
      "clearance_m": -0.00025981664657592773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260100722312927,
      "action": [
        0.11537958681583405,
        0.013465754687786102,
        0.050777617841959,
        -0.0005243346095085144,
        0.1425999402999878,
        -0.001567348837852478,
        -0.869282603263855
      ],
      "proprioception": [
        -3.285968780517578,
        -0.39156678318977356,
        -4.8545265599386767e-05,
        -1.3277608156204224,
        -1.5756585597991943,
        -0.12759312987327576,
        0.08985968679189682,
        0.8967453241348267,
        -0.021455809473991394,
        0.13777349889278412,
        -0.018874309957027435,
        -0.9995432496070862,
        0.023606538772583008,
        -0.9891353249549866,
        0.01522446982562542,
        -0.14621837437152863
      ],
      "bottle_position_world": [
        -0.20123359560966492,
        0.10019983351230621,
        0.8377127051353455
      ],
      "bottle_quaternion_world": [
        0.7285510301589966,
        -0.00013223841961007565,
        3.699688022607006e-05,
        0.6849915981292725
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.850000000000001,
      "clearance_m": -0.00025969743728637695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260060787200928,
      "action": [
        0.11508087813854218,
        0.013424713164567947,
        0.04864630475640297,
        -0.0005376562476158142,
        0.14290232956409454,
        -0.0014252811670303345,
        -0.8691499829292297
      ],
      "proprioception": [
        -3.2858753204345703,
        -0.39156031608581543,
        -4.6048658987274393e-05,
        -1.3282614946365356,
        -1.5756828784942627,
        -0.12753836810588837,
        0.0901862382888794,
        0.8968768119812012,
        -0.02139776013791561,
        0.13783445954322815,
        -0.018850238993763924,
        -0.9995419979095459,
        0.023683857172727585,
        -0.9890648722648621,
        0.015176629647612572,
        -0.1466992050409317
      ],
      "bottle_position_world": [
        -0.20124025642871857,
        0.10018850117921829,
        0.837712824344635
      ],
      "bottle_quaternion_world": [
        0.7285523414611816,
        -9.521703032078221e-05,
        -9.28200242924504e-05,
        0.6849901080131531
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.9,
      "clearance_m": -0.0002600550651550293,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598575353622437,
      "action": [
        0.11454556882381439,
        0.013294298201799393,
        0.048448387533426285,
        -0.000510089099407196,
        0.1431901752948761,
        -0.00167064368724823,
        -0.8684967756271362
      ],
      "proprioception": [
        -3.2857890129089355,
        -0.39154988527297974,
        -4.987031570635736e-05,
        -1.3287291526794434,
        -1.5757070779800415,
        -0.12748406827449799,
        0.09052043408155441,
        0.8970004320144653,
        -0.02134496346116066,
        0.1378902941942215,
        -0.018831981346011162,
        -0.9995405673980713,
        0.02375721000134945,
        -0.9889987111091614,
        0.015135875903069973,
        -0.1471494883298874
      ],
      "bottle_position_world": [
        -0.20122215151786804,
        0.10017514228820801,
        0.8377125263214111
      ],
      "bottle_quaternion_world": [
        0.7285537719726562,
        0.00013219533138908446,
        -5.31698897248134e-05,
        0.6849886775016785
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 12.950000000000001,
      "clearance_m": -0.00026029348373413086,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260006546974182,
      "action": [
        0.11421628296375275,
        0.01324460282921791,
        0.04920539632439613,
        -0.00022502988576889038,
        0.1434822678565979,
        -0.0013341456651687622,
        -0.8687936663627625
      ],
      "proprioception": [
        -3.2857015132904053,
        -0.3915459215641022,
        -4.81372007925529e-05,
        -1.3292033672332764,
        -1.5757274627685547,
        -0.12743425369262695,
        0.09074778854846954,
        0.8971249461174011,
        -0.02128998562693596,
        0.137950137257576,
        -0.01880778558552265,
        -0.9995391964912415,
        0.023828472942113876,
        -0.988930881023407,
        0.015089258551597595,
        -0.14760781824588776
      ],
      "bottle_position_world": [
        -0.20121733844280243,
        0.10020026564598083,
        0.8377124071121216
      ],
      "bottle_quaternion_world": [
        0.7285552620887756,
        -2.0965720977983437e-05,
        0.00016005510406102985,
        0.6849870085716248
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.0,
      "clearance_m": -0.00026041269302368164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600759863853455,
      "action": [
        0.11344049870967865,
        0.013070262968540192,
        0.0491797961294651,
        -0.0002510175108909607,
        0.14357563853263855,
        -0.0015838593244552612,
        -0.8675560355186462
      ],
      "proprioception": [
        -3.2856130599975586,
        -0.39154359698295593,
        -4.646442539524287e-05,
        -1.3296773433685303,
        -1.5757496356964111,
        -0.12738147377967834,
        0.09107513725757599,
        0.8972492814064026,
        -0.02123473957180977,
        0.1380113959312439,
        -0.018786011263728142,
        -0.9995379447937012,
        0.02390117570757866,
        -0.9888629913330078,
        0.015044735744595528,
        -0.14806729555130005
      ],
      "bottle_position_world": [
        -0.2012297362089157,
        0.10019929707050323,
        0.8377121090888977
      ],
      "bottle_quaternion_world": [
        0.728556752204895,
        -0.00010112428572028875,
        6.124359060777351e-05,
        0.6849853992462158
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.05,
      "clearance_m": -0.0002599358558654785,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599278688430786,
      "action": [
        0.11297951638698578,
        0.012940961867570877,
        0.04780677333474159,
        -0.00025825947523117065,
        0.1439133882522583,
        -0.0015477091073989868,
        -0.867397129535675
      ],
      "proprioception": [
        -3.2855234146118164,
        -0.3915371000766754,
        -4.417222226038575e-05,
        -1.3301537036895752,
        -1.5757731199264526,
        -0.1273290514945984,
        0.09138244390487671,
        0.8973742127418518,
        -0.021178731694817543,
        0.13806909322738647,
        -0.018762700259685516,
        -0.9995365738868713,
        0.023974604904651642,
        -0.9887951016426086,
        0.014998583123087883,
        -0.1485242247581482
      ],
      "bottle_position_world": [
        -0.2012356072664261,
        0.10017361491918564,
        0.8377127051353455
      ],
      "bottle_quaternion_world": [
        0.7285582423210144,
        4.864083166467026e-05,
        -0.00016370283265132457,
        0.6849839687347412
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.100000000000001,
      "clearance_m": -0.00025963783264160156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599642276763916,
      "action": [
        0.11236770451068878,
        0.01281680166721344,
        0.047714803367853165,
        -0.0003073588013648987,
        0.1442117989063263,
        -0.001760229468345642,
        -0.8667486310005188
      ],
      "proprioception": [
        -3.285440444946289,
        -0.39152780175209045,
        -4.7628182073822245e-05,
        -1.3305975198745728,
        -1.5757969617843628,
        -0.1272771805524826,
        0.09170357882976532,
        0.8974913358688354,
        -0.021127698943018913,
        0.13812269270420074,
        -0.018744854256510735,
        -0.999535322189331,
        0.024045001715421677,
        -0.9887314438819885,
        0.01495900098234415,
        -0.14895179867744446
      ],
      "bottle_position_world": [
        -0.20121581852436066,
        0.10019586235284805,
        0.8377128839492798
      ],
      "bottle_quaternion_world": [
        0.728559672832489,
        2.319014492968563e-05,
        0.00014109631592873484,
        0.6849823594093323
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.15,
      "clearance_m": -0.0002655982971191406,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598801851272583,
      "action": [
        0.11227656900882721,
        0.012783043086528778,
        0.04785594716668129,
        5.3413212299346924e-05,
        0.14441442489624023,
        -0.001426801085472107,
        -0.866951048374176
      ],
      "proprioception": [
        -3.285356044769287,
        -0.3915218710899353,
        -4.60094706795644e-05,
        -1.3310505151748657,
        -1.5758159160614014,
        -0.12722982466220856,
        0.09193442761898041,
        0.8976103663444519,
        -0.02107435092329979,
        0.13817833364009857,
        -0.01872074231505394,
        -0.9995341897010803,
        0.024112174287438393,
        -0.9886664748191833,
        0.014913443475961685,
        -0.1493874341249466
      ],
      "bottle_position_world": [
        -0.2012299746274948,
        0.10017205029726028,
        0.8377133011817932
      ],
      "bottle_quaternion_world": [
        0.7285611033439636,
        9.976552246371284e-05,
        -0.0001333208492724225,
        0.6849808692932129
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.200000000000001,
      "clearance_m": -0.0002598762512207031,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260123372077942,
      "action": [
        0.11126251518726349,
        0.012623298913240433,
        0.048555824905633926,
        -9.187310934066772e-05,
        0.14463074505329132,
        -0.001676127314567566,
        -0.8660179972648621
      ],
      "proprioception": [
        -3.2852706909179688,
        -0.3915206491947174,
        -4.448295658221468e-05,
        -1.331499457359314,
        -1.5758380889892578,
        -0.12717948853969574,
        0.09222523123025894,
        0.8977278470993042,
        -0.021020816639065742,
        0.13823777437210083,
        -0.0186992846429348,
        -0.9995328783988953,
        0.024181805551052094,
        -0.98860102891922,
        0.01487004291266203,
        -0.1498234122991562
      ],
      "bottle_position_world": [
        -0.2012328803539276,
        0.10020357370376587,
        0.8377125859260559
      ],
      "bottle_quaternion_world": [
        0.7285622954368591,
        -0.0001552189205540344,
        6.838739500381052e-05,
        0.6849795579910278
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.25,
      "clearance_m": -0.0002587437629699707,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598551511764526,
      "action": [
        0.11100141704082489,
        0.012562267482280731,
        0.04671734943985939,
        -4.8063695430755615e-05,
        0.14481407403945923,
        -0.0017157644033432007,
        -0.8654606342315674
      ],
      "proprioception": [
        -3.285184383392334,
        -0.391513854265213,
        -4.212723797536455e-05,
        -1.331953525543213,
        -1.5758607387542725,
        -0.12712827324867249,
        0.0925498902797699,
        0.8978469967842102,
        -0.020966628566384315,
        0.1382921189069748,
        -0.018677590414881706,
        -0.9995318055152893,
        0.024251796305179596,
        -0.9885358810424805,
        0.01482635922729969,
        -0.1502581238746643
      ],
      "bottle_position_world": [
        -0.20122449100017548,
        0.10017342120409012,
        0.8377137780189514
      ],
      "bottle_quaternion_world": [
        0.7285635471343994,
        0.0001289647480007261,
        -8.255577267846093e-05,
        0.684978187084198
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.3,
      "clearance_m": -0.0002598762512207031,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600297927856445,
      "action": [
        0.11045666038990021,
        0.01235884428024292,
        0.0465397872030735,
        -6.420165300369263e-05,
        0.1451670080423355,
        -0.0018744617700576782,
        -0.865116536617279
      ],
      "proprioception": [
        -3.285104990005493,
        -0.39150333404541016,
        -4.549154982669279e-05,
        -1.3323768377304077,
        -1.5758836269378662,
        -0.127078577876091,
        0.09285572916269302,
        0.8979586958885193,
        -0.02091778814792633,
        0.13834212720394135,
        -0.018660765141248703,
        -0.9995302557945251,
        0.024318590760231018,
        -0.9884745478630066,
        0.014788676984608173,
        -0.15066435933113098
      ],
      "bottle_position_world": [
        -0.20121988654136658,
        0.10020159184932709,
        0.837712824344635
      ],
      "bottle_quaternion_world": [
        0.728564977645874,
        -4.888942567049526e-05,
        0.00015046991757117212,
        0.6849767565727234
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.350000000000001,
      "clearance_m": -0.0002690553665161133,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260036051273346,
      "action": [
        0.1103704422712326,
        0.012336239218711853,
        0.04691729322075844,
        0.0003196820616722107,
        0.145309180021286,
        -0.001619979739189148,
        -0.8652874827384949
      ],
      "proprioception": [
        -3.285024404525757,
        -0.3914971351623535,
        -4.4028878619428724e-05,
        -1.3328088521957397,
        -1.5759013891220093,
        -0.12703226506710052,
        0.09306870400905609,
        0.8980720043182373,
        -0.020866500213742256,
        0.13839496672153473,
        -0.018638871610164642,
        -0.9995293617248535,
        0.024381835013628006,
        -0.9884119033813477,
        0.014746211469173431,
        -0.15107937157154083
      ],
      "bottle_position_world": [
        -0.20124350488185883,
        0.10018213838338852,
        0.8377127051353455
      ],
      "bottle_quaternion_world": [
        0.7285661697387695,
        -7.059741619741544e-05,
        -0.0001627252495381981,
        0.6849754452705383
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.4,
      "clearance_m": -0.0002599358558654785,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259859621524811,
      "action": [
        0.10939453542232513,
        0.012234263122081757,
        0.047582898288965225,
        0.00017926841974258423,
        0.1454785168170929,
        -0.001910671591758728,
        -0.8644190430641174
      ],
      "proprioception": [
        -3.284943103790283,
        -0.3914954960346222,
        -4.254031227901578e-05,
        -1.3332370519638062,
        -1.5759224891662598,
        -0.12698222696781158,
        0.09333868324756622,
        0.8981841802597046,
        -0.02081540785729885,
        0.13845109939575195,
        -0.018620451912283897,
        -0.9995279312133789,
        0.024447713047266006,
        -0.9883488416671753,
        0.014706728979945183,
        -0.15149463713169098
      ],
      "bottle_position_world": [
        -0.20121291279792786,
        0.10018345713615417,
        0.8377127051353455
      ],
      "bottle_quaternion_world": [
        0.7285676002502441,
        0.00013558159116655588,
        7.42103875381872e-05,
        0.6849738955497742
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.450000000000001,
      "clearance_m": -0.0002605915069580078,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42601144313812256,
      "action": [
        0.10901312530040741,
        0.01208791509270668,
        0.046264056116342545,
        0.00017827004194259644,
        0.14575137197971344,
        -0.0019501596689224243,
        -0.8639108538627625
      ],
      "proprioception": [
        -3.2848598957061768,
        -0.3914901912212372,
        -4.040947897010483e-05,
        -1.3336682319641113,
        -1.5759446620941162,
        -0.1269315481185913,
        0.09363879263401031,
        0.8982970714569092,
        -0.020763007923960686,
        0.13850441575050354,
        -0.018600979819893837,
        -0.9995266199111938,
        0.024514416232705116,
        -0.9882859587669373,
        0.014666052535176277,
        -0.15190845727920532
      ],
      "bottle_position_world": [
        -0.2012311816215515,
        0.1002034842967987,
        0.8377120494842529
      ],
      "bottle_quaternion_world": [
        0.7285691499710083,
        -0.00014259754971135408,
        7.95864689280279e-05,
        0.68497234582901
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.5,
      "clearance_m": -0.0002593994140625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600196599960327,
      "action": [
        0.10872320830821991,
        0.011943835765123367,
        0.04519421234726906,
        0.00023121386766433716,
        0.14592689275741577,
        -0.002119287848472595,
        -0.863305389881134
      ],
      "proprioception": [
        -3.284783363342285,
        -0.3914783298969269,
        -4.353499389253557e-05,
        -1.3340734243392944,
        -1.5759660005569458,
        -0.12688209116458893,
        0.09396161139011383,
        0.8984039425849915,
        -0.020715516060590744,
        0.13855063915252686,
        -0.018586240708827972,
        -0.9995254874229431,
        0.024577323347330093,
        -0.9882270693778992,
        0.014631334692239761,
        -0.15229563415050507
      ],
      "bottle_position_world": [
        -0.20124031603336334,
        0.10018286108970642,
        0.8377133011817932
      ],
      "bottle_quaternion_world": [
        0.7285705804824829,
        -5.3733503591502085e-05,
        -0.00013426051009446383,
        0.6849707365036011
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.55,
      "clearance_m": -0.00026047229766845703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599111795425415,
      "action": [
        0.10842154920101166,
        0.01192014291882515,
        0.046243611723184586,
        0.0004926696419715881,
        0.1462172567844391,
        -0.001821860671043396,
        -0.8638742566108704
      ],
      "proprioception": [
        -3.284705638885498,
        -0.39147260785102844,
        -4.217874084133655e-05,
        -1.3344835042953491,
        -1.5759836435317993,
        -0.12683652341365814,
        0.0941411554813385,
        0.8985113501548767,
        -0.02066601626574993,
        0.13860119879245758,
        -0.018566066399216652,
        -0.9995242357254028,
        0.024637702852487564,
        -0.9881665110588074,
        0.01459136325865984,
        -0.15268978476524353
      ],
      "bottle_position_world": [
        -0.2012311816215515,
        0.10017476975917816,
        0.8377121686935425
      ],
      "bottle_quaternion_world": [
        0.7285721898078918,
        7.102433301042765e-05,
        -0.0001235832169186324,
        0.6849690079689026
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.600000000000001,
      "clearance_m": -0.0002607107162475586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259858727455139,
      "action": [
        0.10752038657665253,
        0.01178625226020813,
        0.04672372713685036,
        0.00038335472345352173,
        0.1463232934474945,
        -0.002155706286430359,
        -0.8625476956367493
      ],
      "proprioception": [
        -3.2846271991729736,
        -0.3914712071418762,
        -4.0690498281037435e-05,
        -1.334890604019165,
        -1.5760043859481812,
        -0.12678682804107666,
        0.09443557262420654,
        0.8986178636550903,
        -0.020616384223103523,
        0.1386549472808838,
        -0.01854965277016163,
        -0.999522864818573,
        0.024700526148080826,
        -0.9881060719490051,
        0.014554685913026333,
        -0.1530843824148178
      ],
      "bottle_position_world": [
        -0.2012181431055069,
        0.10017840564250946,
        0.8377119302749634
      ],
      "bottle_quaternion_world": [
        0.7285736799240112,
        0.00013666856102645397,
        -4.74843034226069e-07,
        0.6849674582481384
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.65,
      "clearance_m": -0.00026094913482666016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259907007217407,
      "action": [
        0.10721386969089508,
        0.011649943888187408,
        0.04503769055008888,
        0.00035240501165390015,
        0.14660340547561646,
        -0.0020351260900497437,
        -0.8622997403144836
      ],
      "proprioception": [
        -3.2845473289489746,
        -0.39146459102630615,
        -3.8500384107464924e-05,
        -1.3353016376495361,
        -1.576026439666748,
        -0.12673848867416382,
        0.09473426640033722,
        0.8987254500389099,
        -0.020566103979945183,
        0.13870419561862946,
        -0.018530886620283127,
        -0.9995219111442566,
        0.024764608591794968,
        -0.9880459308624268,
        0.014515480026602745,
        -0.15347719192504883
      ],
      "bottle_position_world": [
        -0.20121341943740845,
        0.1001891940832138,
        0.8377116918563843
      ],
      "bottle_quaternion_world": [
        0.7285753488540649,
        8.977483230410144e-05,
        0.00011080390686402097,
        0.6849656701087952
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.700000000000001,
      "clearance_m": -0.00026100873947143555,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260025918483734,
      "action": [
        0.10688121616840363,
        0.011429380625486374,
        0.04453978314995766,
        0.0004413798451423645,
        0.14682118594646454,
        -0.002178564667701721,
        -0.8617628812789917
      ],
      "proprioception": [
        -3.2844741344451904,
        -0.3914532959461212,
        -4.152905967202969e-05,
        -1.3356866836547852,
        -1.5760471820831299,
        -0.1266917586326599,
        0.0950368121266365,
        0.8988269567489624,
        -0.020520633086562157,
        0.1387486308813095,
        -0.018516281619668007,
        -0.9995205402374268,
        0.024824615567922592,
        -0.9879890084266663,
        0.014481655322015285,
        -0.1538449227809906
      ],
      "bottle_position_world": [
        -0.2012203186750412,
        0.10020008683204651,
        0.8377116918563843
      ],
      "bottle_quaternion_world": [
        0.7285772562026978,
        -3.981469490099698e-05,
        0.0001365822972729802,
        0.6849637031555176
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.75,
      "clearance_m": -0.00026088953018188477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260108470916748,
      "action": [
        0.106694296002388,
        0.011358089745044708,
        0.04516235366463661,
        0.0007855668663978577,
        0.14702609181404114,
        -0.0018946975469589233,
        -0.8622145056724548
      ],
      "proprioception": [
        -3.284400463104248,
        -0.39144688844680786,
        -4.0332764910999686e-05,
        -1.3360776901245117,
        -1.576062798500061,
        -0.12664912641048431,
        0.09521512687206268,
        0.8989294767379761,
        -0.020473333075642586,
        0.13879573345184326,
        -0.018496528267860413,
        -0.999519407749176,
        0.024880792945623398,
        -0.9879311919212341,
        0.01444311160594225,
        -0.1542195975780487
      ],
      "bottle_position_world": [
        -0.20123323798179626,
        0.10020068287849426,
        0.8377116918563843
      ],
      "bottle_quaternion_world": [
        0.7285788059234619,
        -0.00013557873899117112,
        4.4434094888856634e-05,
        0.6849620342254639
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.8,
      "clearance_m": -0.000260770320892334,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260075092315674,
      "action": [
        0.10582394897937775,
        0.01123729720711708,
        0.045761797577142715,
        0.0006844177842140198,
        0.1471109390258789,
        -0.0022400468587875366,
        -0.86114901304245
      ],
      "proprioception": [
        -3.28432559967041,
        -0.3914445638656616,
        -3.8895555917406455e-05,
        -1.3364657163619995,
        -1.5760812759399414,
        -0.12660211324691772,
        0.09547652304172516,
        0.8990309834480286,
        -0.0204255860298872,
        0.13884615898132324,
        -0.01848040521144867,
        -0.9995182156562805,
        0.024939272552728653,
        -0.9878730177879333,
        0.014407726004719734,
        -0.1545950323343277
      ],
      "bottle_position_world": [
        -0.20124109089374542,
        0.10018929094076157,
        0.8377118706703186
      ],
      "bottle_quaternion_world": [
        0.7285803556442261,
        -0.00010604933049762622,
        -9.46579166338779e-05,
        0.6849603056907654
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.850000000000001,
      "clearance_m": -0.0002607107162475586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259960651397705,
      "action": [
        0.10539765655994415,
        0.011182732880115509,
        0.04448065534234047,
        0.0005617067217826843,
        0.14736512303352356,
        -0.0022573620080947876,
        -0.8607854247093201
      ],
      "proprioception": [
        -3.2842488288879395,
        -0.391438752412796,
        -3.6903809814248234e-05,
        -1.3368561267852783,
        -1.576102614402771,
        -0.12655431032180786,
        0.09575769305229187,
        0.8991329669952393,
        -0.020377159118652344,
        0.13889378309249878,
        -0.01846368797123432,
        -0.9995172619819641,
        0.025000054389238358,
        -0.9878152012825012,
        0.014371408149600029,
        -0.15496858954429626
      ],
      "bottle_position_world": [
        -0.20123617351055145,
        0.10017741471529007,
        0.8377119302749634
      ],
      "bottle_quaternion_world": [
        0.7285820841789246,
        1.7416925402358174e-05,
        -0.00014113255019765347,
        0.6849585771560669
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.9,
      "clearance_m": -0.00026720762252807617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259865880012512,
      "action": [
        0.10504807531833649,
        0.011056870222091675,
        0.043897006660699844,
        0.0005464032292366028,
        0.14758837223052979,
        -0.0023887604475021362,
        -0.8601817488670349
      ],
      "proprioception": [
        -3.2841782569885254,
        -0.39142850041389465,
        -3.964369170716964e-05,
        -1.337221622467041,
        -1.576123833656311,
        -0.12650790810585022,
        0.09606112539768219,
        0.8992292284965515,
        -0.02033338136970997,
        0.13893631100654602,
        -0.018451206386089325,
        -0.9995160102844238,
        0.025058001279830933,
        -0.9877606630325317,
        0.014340332709252834,
        -0.15531796216964722
      ],
      "bottle_position_world": [
        -0.2012237012386322,
        0.10017463564872742,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7285836935043335,
        0.00012654477905016392,
        -6.795312947360799e-05,
        0.6849568486213684
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 13.950000000000001,
      "clearance_m": -0.00026088953018188477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259866774082184,
      "action": [
        0.10491393506526947,
        0.011012673377990723,
        0.04437879100441933,
        0.0008727982640266418,
        0.1478317379951477,
        -0.0020240098237991333,
        -0.8606367111206055
      ],
      "proprioception": [
        -3.284107208251953,
        -0.3914222717285156,
        -3.842391015496105e-05,
        -1.3375933170318604,
        -1.576140284538269,
        -0.12646624445915222,
        0.09624214470386505,
        0.8993265628814697,
        -0.02028781548142433,
        0.1389813870191574,
        -0.018432751297950745,
        -0.9995149970054626,
        0.02511289343237877,
        -0.9877052307128906,
        0.014303621836006641,
        -0.15567362308502197
      ],
      "bottle_position_world": [
        -0.2012147307395935,
        0.10018248856067657,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7285852432250977,
        0.00013165766722522676,
        5.4327992984326556e-05,
        0.6849551200866699
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.0,
      "clearance_m": -0.00026088953018188477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259975254535675,
      "action": [
        0.10413126647472382,
        0.010815046727657318,
        0.04490754380822182,
        0.000837571918964386,
        0.14791816473007202,
        -0.002274826169013977,
        -0.8595809936523438
      ],
      "proprioception": [
        -3.2840356826782227,
        -0.39141976833343506,
        -3.6988683859817684e-05,
        -1.3379623889923096,
        -1.5761582851409912,
        -0.12642201781272888,
        0.09650370478630066,
        0.8994229435920715,
        -0.020242217928171158,
        0.13902918994426727,
        -0.01841689646244049,
        -0.9995136857032776,
        0.025168772786855698,
        -0.9876493215560913,
        0.014269258826971054,
        -0.15603025257587433
      ],
      "bottle_position_world": [
        -0.2012162059545517,
        0.10019650310277939,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7285867929458618,
        1.679260458331555e-05,
        0.00014213733084034175,
        0.6849535703659058
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.05,
      "clearance_m": -0.00026732683181762695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260077476501465,
      "action": [
        0.10378934442996979,
        0.010661132633686066,
        0.043514434248209,
        0.0008111372590065002,
        0.14813032746315002,
        -0.0022574812173843384,
        -0.859260618686676
      ],
      "proprioception": [
        -3.283963203430176,
        -0.3914130926132202,
        -3.512234252411872e-05,
        -1.338334321975708,
        -1.576177716255188,
        -0.1263779103755951,
        0.09677915275096893,
        0.8995202779769897,
        -0.02019619196653366,
        0.13907380402088165,
        -0.018400032073259354,
        -0.9995125532150269,
        0.025225764140486717,
        -0.9875937104225159,
        0.014233731664717197,
        -0.1563851237297058
      ],
      "bottle_position_world": [
        -0.20122678577899933,
        0.1002018079161644,
        0.8377116322517395
      ],
      "bottle_quaternion_world": [
        0.7285882234573364,
        -9.7230302344542e-05,
        0.00010097018821397796,
        0.6849520206451416
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.100000000000001,
      "clearance_m": -0.0002607107162475586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260105788707733,
      "action": [
        0.10347075760364532,
        0.010520268231630325,
        0.043015334755182266,
        0.0008497312664985657,
        0.148307204246521,
        -0.0024203211069107056,
        -0.8588152527809143
      ],
      "proprioception": [
        -3.283895969390869,
        -0.39140239357948303,
        -3.795427255681716e-05,
        -1.3386828899383545,
        -1.5761967897415161,
        -0.12633465230464935,
        0.09705453366041183,
        0.8996120095252991,
        -0.02015424147248268,
        0.13911354541778564,
        -0.018387217074632645,
        -0.9995114803314209,
        0.02527972124516964,
        -0.9875414371490479,
        0.014203283004462719,
        -0.15671753883361816
      ],
      "bottle_position_world": [
        -0.20123900473117828,
        0.10019547492265701,
        0.8377119302749634
      ],
      "bottle_quaternion_world": [
        0.728589653968811,
        -0.000136575719807297,
        -3.487367575871758e-05,
        0.6849504709243774
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.15,
      "clearance_m": -0.0002608299255371094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600226402282715,
      "action": [
        0.10323716700077057,
        0.010502912104129791,
        0.04376009479165077,
        0.0011111870408058167,
        0.148514986038208,
        -0.002222403883934021,
        -0.8591746687889099
      ],
      "proprioception": [
        -3.283828020095825,
        -0.39139679074287415,
        -3.673832907225005e-05,
        -1.3390365839004517,
        -1.576211929321289,
        -0.12629395723342896,
        0.09722239524126053,
        0.8997045755386353,
        -0.020110314711928368,
        0.13915684819221497,
        -0.01837034709751606,
        -0.999510645866394,
        0.025331001728773117,
        -0.9874882102012634,
        0.014169018715620041,
        -0.15705639123916626
      ],
      "bottle_position_world": [
        -0.20124058425426483,
        0.10018230974674225,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7285911440849304,
        -5.0079772336175665e-05,
        -0.00014000007649883628,
        0.6849488615989685
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.200000000000001,
      "clearance_m": -0.00026720762252807617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599111795425415,
      "action": [
        0.10243792831897736,
        0.010417599231004715,
        0.04420635476708412,
        0.0009782388806343079,
        0.14861027896404266,
        -0.002513512969017029,
        -0.8581262230873108
      ],
      "proprioception": [
        -3.2837588787078857,
        -0.39139482378959656,
        -3.544044739101082e-05,
        -1.3393869400024414,
        -1.5762301683425903,
        -0.1262495368719101,
        0.09747683256864548,
        0.8997959494590759,
        -0.020066196098923683,
        0.1392027586698532,
        -0.018356746062636375,
        -0.9995095133781433,
        0.02538461610674858,
        -0.9874346852302551,
        0.014137579128146172,
        -0.15739521384239197
      ],
      "bottle_position_world": [
        -0.2012314796447754,
        0.10017433017492294,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7285926938056946,
        7.334679685300216e-05,
        -0.0001288439816562459,
        0.6849472522735596
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.25,
      "clearance_m": -0.00026088953018188477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259856641292572,
      "action": [
        0.10210992395877838,
        0.010329961776733398,
        0.04290315881371498,
        0.0009028688073158264,
        0.14884734153747559,
        -0.002460286021232605,
        -0.8577883839607239
      ],
      "proprioception": [
        -3.283688545227051,
        -0.39138877391815186,
        -3.369792830199003e-05,
        -1.3397399187088013,
        -1.5762503147125244,
        -0.12620532512664795,
        0.09774919599294662,
        0.8998880386352539,
        -0.020021537318825722,
        0.13924553990364075,
        -0.018341809511184692,
        -0.999508261680603,
        0.02544015273451805,
        -0.9873813986778259,
        0.014104550704360008,
        -0.15773195028305054
      ],
      "bottle_position_world": [
        -0.20121850073337555,
        0.10017769783735275,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.728594183921814,
        0.0001400903711328283,
        -8.527816135028843e-06,
        0.6849457025527954
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.3,
      "clearance_m": -0.00026094913482666016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259909689426422,
      "action": [
        0.10183633863925934,
        0.010145850479602814,
        0.04227212443947792,
        0.0009432807564735413,
        0.14902673661708832,
        -0.002558395266532898,
        -0.8572196364402771
      ],
      "proprioception": [
        -3.283623695373535,
        -0.39137861132621765,
        -3.613191802287474e-05,
        -1.3400709629058838,
        -1.5762699842453003,
        -0.12616285681724548,
        0.09803993999958038,
        0.8999750018119812,
        -0.019981130957603455,
        0.13928332924842834,
        -0.018330292776226997,
        -0.9995072484016418,
        0.025492610409855843,
        -0.9873314499855042,
        0.014075953513383865,
        -0.15804728865623474
      ],
      "bottle_position_world": [
        -0.2012135535478592,
        0.1001894623041153,
        0.8377116918563843
      ],
      "bottle_quaternion_world": [
        0.7285956144332886,
        8.727015665499493e-05,
        0.00011143435403937474,
        0.6849441528320312
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.350000000000001,
      "clearance_m": -0.00026738643646240234,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260033071041107,
      "action": [
        0.10173182189464569,
        0.010020960122346878,
        0.04270470514893532,
        0.001319386065006256,
        0.1492445468902588,
        -0.002259477972984314,
        -0.8577041029930115
      ],
      "proprioception": [
        -3.2835588455200195,
        -0.3913717567920685,
        -3.501154787954874e-05,
        -1.3404074907302856,
        -1.5762840509414673,
        -0.12612494826316833,
        0.09820656478404999,
        0.9000632166862488,
        -0.019939061254262924,
        0.1393231451511383,
        -0.01831325888633728,
        -0.9995061159133911,
        0.025540992617607117,
        -0.9872803688049316,
        0.014042354188859463,
        -0.15836818516254425
      ],
      "bottle_position_world": [
        -0.2012207955121994,
        0.10020069032907486,
        0.8377116918563843
      ],
      "bottle_quaternion_world": [
        0.728597104549408,
        -4.7512836317764595e-05,
        0.00013690513151232153,
        0.6849425435066223
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.4,
      "clearance_m": -0.00026088953018188477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260109066963196,
      "action": [
        0.10097675025463104,
        0.009838126599788666,
        0.04331228509545326,
        0.0012795701622962952,
        0.14929208159446716,
        -0.0025691241025924683,
        -0.8567343354225159
      ],
      "proprioception": [
        -3.2834932804107666,
        -0.3913687765598297,
        -3.3812269975896925e-05,
        -1.3407412767410278,
        -1.576299786567688,
        -0.1260836273431778,
        0.098444864153862,
        0.9001504182815552,
        -0.019896820187568665,
        0.1393660455942154,
        -0.01829940639436245,
        -0.9995051622390747,
        0.025590363889932632,
        -0.9872291088104248,
        0.014011669903993607,
        -0.15869024395942688
      ],
      "bottle_position_world": [
        -0.20123377442359924,
        0.10020030289888382,
        0.8377116918563843
      ],
      "bottle_quaternion_world": [
        0.7285988926887512,
        -0.00013649773609358817,
        3.732879486051388e-05,
        0.6849406361579895
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.450000000000001,
      "clearance_m": -0.0002608299255371094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260077476501465,
      "action": [
        0.100599005818367,
        0.009753555059432983,
        0.04219597950577736,
        0.0011770501732826233,
        0.14947497844696045,
        -0.0026046782732009888,
        -0.8564206957817078
      ],
      "proprioception": [
        -3.2834267616271973,
        -0.3913627564907074,
        -3.2071729947347194e-05,
        -1.341077208518982,
        -1.576317548751831,
        -0.12604141235351562,
        0.09869846701622009,
        0.9002380967140198,
        -0.019854338839650154,
        0.1394064575433731,
        -0.018285758793354034,
        -0.9995040893554688,
        0.025641458109021187,
        -0.9871780276298523,
        0.013980954885482788,
        -0.15901054441928864
      ],
      "bottle_position_world": [
        -0.2012414187192917,
        0.10018933564424515,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7286003828048706,
        -0.00010893824219238013,
        -9.705892443889752e-05,
        0.6849390864372253
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.5,
      "clearance_m": -0.0002608299255371094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599642276763916,
      "action": [
        0.1002713292837143,
        0.009665224701166153,
        0.041763875633478165,
        0.0011483356356620789,
        0.14966246485710144,
        -0.0027534812688827515,
        -0.8559557795524597
      ],
      "proprioception": [
        -3.2833659648895264,
        -0.3913533091545105,
        -3.4450902603566647e-05,
        -1.3413915634155273,
        -1.5763362646102905,
        -0.12599973380565643,
        0.09896048158407211,
        0.9003206491470337,
        -0.019816549494862556,
        0.13944260776042938,
        -0.018276924267411232,
        -0.9995030760765076,
        0.025690972805023193,
        -0.9871302843093872,
        0.01395579893141985,
        -0.15930995345115662
      ],
      "bottle_position_world": [
        -0.20123687386512756,
        0.10017722845077515,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7286019325256348,
        1.3339435099624097e-05,
        -0.00014859602379146963,
        0.6849374771118164
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.55,
      "clearance_m": -0.0002608299255371094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598676681518555,
      "action": [
        0.10013209283351898,
        0.009684599936008453,
        0.042398009449243546,
        0.0014263466000556946,
        0.14988276362419128,
        -0.002442076802253723,
        -0.8564439415931702
      ],
      "proprioception": [
        -3.2833034992218018,
        -0.39134806394577026,
        -3.335883957333863e-05,
        -1.3417104482650757,
        -1.5763503313064575,
        -0.12596216797828674,
        0.09910120815038681,
        0.9004039764404297,
        -0.01977596804499626,
        0.1394815444946289,
        -0.018261635676026344,
        -0.9995021820068359,
        0.025737281888723373,
        -0.9870812892913818,
        0.01392456330358982,
        -0.15961524844169617
      ],
      "bottle_position_world": [
        -0.2012241780757904,
        0.1001744493842125,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7286033630371094,
        0.0001233850489370525,
        -7.350531086558476e-05,
        0.6849359273910522
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.600000000000001,
      "clearance_m": -0.00026088953018188477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.425987184047699,
      "action": [
        0.09936629235744476,
        0.009511254727840424,
        0.04291284456849098,
        0.0013354197144508362,
        0.14995932579040527,
        -0.0027180761098861694,
        -0.8552943468093872
      ],
      "proprioception": [
        -3.283240795135498,
        -0.39134636521339417,
        -3.245136031182483e-05,
        -1.3420259952545166,
        -1.576366901397705,
        -0.1259213536977768,
        0.09934575110673904,
        0.9004862308502197,
        -0.01973574608564377,
        0.13952362537384033,
        -0.018249869346618652,
        -0.99950110912323,
        0.02578536979854107,
        -0.9870322942733765,
        0.013896511867642403,
        -0.15992069244384766
      ],
      "bottle_position_world": [
        -0.20121441781520844,
        0.10018341988325119,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7286048531532288,
        0.00012537672591861337,
        6.258825305849314e-05,
        0.6849342584609985
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.65,
      "clearance_m": -0.00026088953018188477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259973168373108,
      "action": [
        0.09912873804569244,
        0.009362854063510895,
        0.04138973727822304,
        0.0012981817126274109,
        0.1501578688621521,
        -0.0025957077741622925,
        -0.8550540804862976
      ],
      "proprioception": [
        -3.283176898956299,
        -0.3913402557373047,
        -3.063158146687783e-05,
        -1.3423452377319336,
        -1.576384425163269,
        -0.12588217854499817,
        0.09960052371025085,
        0.9005693197250366,
        -0.019694803282618523,
        0.1395614892244339,
        -0.018235452473163605,
        -0.9995002150535583,
        0.025834737345576286,
        -0.9869834184646606,
        0.013865643180906773,
        -0.16022421419620514
      ],
      "bottle_position_world": [
        -0.20121626555919647,
        0.10019611567258835,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.7286064624786377,
        1.7781640053726733e-05,
        0.00013904343359172344,
        0.6849325895309448
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.700000000000001,
      "clearance_m": -0.00026094913482666016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260082244873047,
      "action": [
        0.09887750446796417,
        0.00916919857263565,
        0.040871087461709976,
        0.0013428404927253723,
        0.15028679370880127,
        -0.002727136015892029,
        -0.8545225858688354
      ],
      "proprioception": [
        -3.2831180095672607,
        -0.3913300037384033,
        -3.277500582044013e-05,
        -1.3426437377929688,
        -1.576401710510254,
        -0.12584392726421356,
        0.09987001121044159,
        0.9006478786468506,
        -0.019657723605632782,
        0.1395949423313141,
        -0.018224479630589485,
        -0.9994991421699524,
        0.02588110789656639,
        -0.9869378805160522,
        0.013839228078722954,
        -0.16050726175308228
      ],
      "bottle_position_world": [
        -0.2012273520231247,
        0.10020197182893753,
        0.8377116322517395
      ],
      "bottle_quaternion_world": [
        0.7286078929901123,
        -0.00010414480493636802,
        9.750197204994038e-05,
        0.6849310398101807
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.75,
      "clearance_m": -0.0002608299255371094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42601069808006287,
      "action": [
        0.09876598417758942,
        0.009111911058425903,
        0.041405413299798965,
        0.001666836440563202,
        0.15048331022262573,
        -0.0024774521589279175,
        -0.8550772070884705
      ],
      "proprioception": [
        -3.2830588817596436,
        -0.39132338762283325,
        -3.188460323144682e-05,
        -1.3429471254348755,
        -1.5764139890670776,
        -0.1258094161748886,
        0.10000962764024734,
        0.9007272124290466,
        -0.01961914822459221,
        0.13963070511817932,
        -0.018209002912044525,
        -0.9994982481002808,
        0.025923896580934525,
        -0.9868911504745483,
        0.013808730989694595,
        -0.16079650819301605
      ],
      "bottle_position_world": [
        -0.2012389898300171,
        0.10019558668136597,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7286094427108765,
        -0.00013910108827985823,
        -3.459664367255755e-05,
        0.684929370880127
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.8,
      "clearance_m": -0.00026088953018188477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4260024428367615,
      "action": [
        0.09798891842365265,
        0.0090055912733078,
        0.04222262278199196,
        0.0015776976943016052,
        0.150544673204422,
        -0.0028143972158432007,
        -0.8541534543037415
      ],
      "proprioception": [
        -3.2829995155334473,
        -0.39132159948349,
        -3.0899158446118236e-05,
        -1.343247413635254,
        -1.5764284133911133,
        -0.12577086687088013,
        0.10021895915269852,
        0.9008054733276367,
        -0.019580721855163574,
        0.1396705061197281,
        -0.018197640776634216,
        -0.9994974136352539,
        0.025968477129936218,
        -0.9868442416191101,
        0.01378195732831955,
        -0.16108694672584534
      ],
      "bottle_position_world": [
        -0.20124055445194244,
        0.10018251836299896,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.7286109328269958,
        -5.28506534465123e-05,
        -0.0001385696668876335,
        0.6849278807640076
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.850000000000001,
      "clearance_m": -0.00026088953018188477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42599058151245117,
      "action": [
        0.0976184755563736,
        0.00896841287612915,
        0.04110795632004738,
        0.0014138147234916687,
        0.1507171392440796,
        -0.0028293579816818237,
        -0.8537672162055969
      ],
      "proprioception": [
        -3.2829387187957764,
        -0.3913171887397766,
        -2.9194052331149578e-05,
        -1.3435490131378174,
        -1.576446294784546,
        -0.12573133409023285,
        0.100460484623909,
        0.9008839130401611,
        -0.019541924819350243,
        0.139707550406456,
        -0.01818624511361122,
        -0.9994962215423584,
        0.026015963405370712,
        -0.9867974519729614,
        0.01375471893697977,
        -0.16137512028217316
      ],
      "bottle_position_world": [
        -0.20123085379600525,
        0.10017412900924683,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.7286126017570496,
        7.838234887458384e-05,
        -0.00012524175690487027,
        0.6849260926246643
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.9,
      "clearance_m": -0.00026720762252807617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42598554491996765,
      "action": [
        0.09740163385868073,
        0.008854418992996216,
        0.04053885117173195,
        0.0014221593737602234,
        0.15089431405067444,
        -0.0028845220804214478,
        -0.8533385396003723
      ],
      "proprioception": [
        -3.282881498336792,
        -0.3913085460662842,
        -3.140386252198368e-05,
        -1.343832015991211,
        -1.5764639377593994,
        -0.12569354474544525,
        0.10071102529764175,
        0.9009582996368408,
        -0.01950584165751934,
        0.139740452170372,
        -0.01817638799548149,
        -0.999495267868042,
        0.02606111764907837,
        -0.9867537617683411,
        0.013729892671108246,
        -0.16164472699165344
      ],
      "bottle_position_world": [
        -0.20121832191944122,
        0.10017777234315872,
        0.8377118110656738
      ],
      "bottle_quaternion_world": [
        0.7286140322685242,
        0.00014011924213264138,
        -5.7016568462131545e-06,
        0.6849245429039001
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 14.950000000000001,
      "clearance_m": -0.00026088953018188477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.4259911775588989,
      "action": [
        0.09731031954288483,
        0.008757006376981735,
        0.04085463657975197,
        0.0017290636897087097,
        0.1510792374610901,
        -0.002633020281791687,
        -0.8536052107810974
      ],
      "proprioception": [
        -3.2828245162963867,
        -0.39130258560180664,
        -3.0434202926699072e-05,
        -1.3441201448440552,
        -1.57647705078125,
        -0.12565937638282776,
        0.10087310522794724,
        0.9010335206985474,
        -0.01946866698563099,
        0.13977476954460144,
        -0.01816243678331375,
        -0.9994944334030151,
        0.02610289677977562,
        -0.9867091178894043,
        0.013701384887099266,
        -0.16191917657852173
      ],
      "bottle_position_world": [
        -0.20121388137340546,
        0.10018949210643768,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.7286155819892883,
        8.407063432969153e-05,
        0.00011004820407833904,
        0.6849228739738464
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    },
    {
      "t_s": 15.0,
      "clearance_m": -0.00026732683181762695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.42600303888320923,
      "action": [
        0.09670053422451019,
        0.008556298911571503,
        0.04115060344338417,
        0.0017306283116340637,
        0.15114209055900574,
        -0.0028452128171920776,
        -0.8527916073799133
      ],
      "proprioception": [
        -3.2827677726745605,
        -0.3912992477416992,
        -2.9301512768142857e-05,
        -1.3444061279296875,
        -1.5764909982681274,
        -0.12562312185764313,
        0.1010938361287117,
        0.9011081457138062,
        -0.019431915134191513,
        0.1398112028837204,
        -0.01815095543861389,
        -0.9994936585426331,
        0.026144955307245255,
        -0.986664354801178,
        0.013675248250365257,
        -0.16219381988048553
      ],
      "bottle_position_world": [
        -0.2012210637331009,
        0.1002001240849495,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.7286171913146973,
        -4.576748688123189e-05,
        0.00013142148964107037,
        0.684921145439148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005189859075471759
    }
  ],
  "rate_denominator": false
}