{
  "checkpoint": "/home/sudhir/rl_training/results/teacher/runs/20260913T134249Z_native_corrected_from_start_teacher_seed42/checkpoints/model_2000.pt",
  "checkpoint_sha256": "970b75da3892058aab497ceab84890ed5094c938741c108ba99e94e9874f4460",
  "scale": 0.05,
  "seeds": [
    1101
  ],
  "episodes_per_seed": 1,
  "num_envs": 1,
  "preset": {
    "randomization": {
      "enabled": true,
      "nominal_fraction": 0.0,
      "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": false,
      "boundaries": [
        0
      ],
      "scales": [
        0.05
      ],
      "evaluation_scale": 0.05
    },
    "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,
      "success_mode": "native_goal"
    },
    "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": "native-arm-speed",
  "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": 0.0005094197113066912,
    "max_joint_speed": 0.430851012468338,
    "max_force_ratio": 1.0,
    "nonfinite": 0.0,
    "elapsed_s": 15.000000953674316,
    "strict_hold_success_diagnostic": 0.0,
    "physics_overflow_bits": 0,
    "final_goal_error_m": 0.16177479922771454,
    "initial_layout_footprint_overlap": 0.0,
    "return_": 25.52400016784668,
    "dr_scale": 0.05000000074505806,
    "bilateral_fraction": 0.0,
    "world": 0,
    "bottle_local_xy": [
      0.15574035048484802,
      -0.12078233063220978
    ],
    "terminated": false,
    "timeout": true,
    "bottle_x_bin": 2,
    "bottle_y_bin": 0,
    "invalid": false,
    "seed": 1101
  },
  "frames": [
    {
      "t_s": 0.05,
      "clearance_m": -0.00033479928970336914,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1618465632200241,
      "action": [
        0.46264228224754333,
        -0.1317850798368454,
        -0.9999990463256836,
        -0.531151533126831,
        0.9963076710700989,
        0.9999974370002747,
        -0.9767206311225891
      ],
      "proprioception": [
        -3.508942127227783,
        -1.1444625854492188,
        0.9769198894500732,
        -1.4251848459243774,
        -1.5575029850006104,
        -0.36164841055870056,
        0.6134469509124756,
        0.6595723628997803,
        -0.13286803662776947,
        0.26329609751701355,
        -0.00549625838175416,
        -0.9999741315841675,
        -0.004670958500355482,
        -0.9996664524078369,
        0.005612360313534737,
        -0.025213103741407394
      ],
      "bottle_position_world": [
        0.16121220588684082,
        -0.11774219572544098,
        0.8376439809799194
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        2.9794828151352704e-05,
        -3.2327523513231426e-05,
        0.03772604465484619
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.1,
      "clearance_m": -0.00025266408920288086,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176967322826385,
      "action": [
        0.5013180375099182,
        -0.14442548155784607,
        -0.9999852180480957,
        -0.33395686745643616,
        0.9975733160972595,
        0.9999938011169434,
        -0.9698902368545532
      ],
      "proprioception": [
        -3.5063726902008057,
        -1.1347562074661255,
        0.9693266749382019,
        -1.4201459884643555,
        -1.5630141496658325,
        -0.3675892651081085,
        0.2480619102716446,
        0.6611285209655762,
        -0.13329166173934937,
        0.2600243389606476,
        0.002882832195609808,
        -0.9999943971633911,
        -0.0019506299868226051,
        -0.9998587369918823,
        -0.002850065240636468,
        -0.016587886959314346
      ],
      "bottle_position_world": [
        0.16121423244476318,
        -0.11774446070194244,
        0.8377257585525513
      ],
      "bottle_quaternion_world": [
        0.9992880821228027,
        5.423148468253203e-05,
        -1.258359134226339e-05,
        0.03772629424929619
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.15000000000000002,
      "clearance_m": -0.0002532005310058594,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617727130651474,
      "action": [
        0.4526922106742859,
        -0.1078198030591011,
        -0.999977707862854,
        -0.40168458223342896,
        0.9995337724685669,
        0.9999931454658508,
        -0.9919965863227844
      ],
      "proprioception": [
        -3.5034990310668945,
        -1.1253632307052612,
        0.9625784158706665,
        -1.4157440662384033,
        -1.5690909624099731,
        -0.3732471168041229,
        0.09678144752979279,
        0.6626001000404358,
        -0.1336262822151184,
        0.25660085678100586,
        0.011342317797243595,
        -0.9999352097511292,
        0.0012317243963479996,
        -0.9999052882194519,
        -0.011351590044796467,
        -0.007821956649422646
      ],
      "bottle_position_world": [
        0.1612159013748169,
        -0.11773734539747238,
        0.8377252817153931
      ],
      "bottle_quaternion_world": [
        0.9992880821228027,
        -1.7878412108984776e-05,
        7.829111382307019e-06,
        0.03772649168968201
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.2,
      "clearance_m": -0.00025516748428344727,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177602112293243,
      "action": [
        0.42680156230926514,
        -0.11200401932001114,
        -0.999955415725708,
        -0.49868136644363403,
        0.9995967149734497,
        0.9999886155128479,
        -0.9900590181350708
      ],
      "proprioception": [
        -3.5003628730773926,
        -1.1162599325180054,
        0.9565511345863342,
        -1.4120838642120361,
        -1.5759207010269165,
        -0.37857747077941895,
        0.04333126172423363,
        0.6640209555625916,
        -0.13396984338760376,
        0.2530844807624817,
        0.01980563998222351,
        -0.9997909069061279,
        0.005129855126142502,
        -0.9998036623001099,
        -0.019800901412963867,
        0.0009682253003120422
      ],
      "bottle_position_world": [
        0.16121645271778107,
        -0.11773042380809784,
        0.8377243280410767
      ],
      "bottle_quaternion_world": [
        0.9992880821228027,
        -8.958116814028472e-05,
        1.665075251366943e-05,
        0.037726595997810364
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.25,
      "clearance_m": -0.00025832653045654297,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177524626255035,
      "action": [
        0.4108702838420868,
        -0.1227218434214592,
        -0.9999237656593323,
        -0.5405387878417969,
        0.9994397759437561,
        0.9999812245368958,
        -0.9769516587257385
      ],
      "proprioception": [
        -3.4971506595611572,
        -1.107224464416504,
        0.9508336186408997,
        -1.408750057220459,
        -1.5831291675567627,
        -0.38382694125175476,
        0.029790552332997322,
        0.6654136776924133,
        -0.13435079157352448,
        0.24949030578136444,
        0.02834484912455082,
        -0.9995550513267517,
        0.009317398071289062,
        -0.9995523691177368,
        -0.028252821415662766,
        0.009861964732408524
      ],
      "bottle_position_world": [
        0.1612112820148468,
        -0.11773594468832016,
        0.8377225399017334
      ],
      "bottle_quaternion_world": [
        0.9992880821228027,
        -3.498797377687879e-05,
        -3.880619624396786e-05,
        0.03772588074207306
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.30000000000000004,
      "clearance_m": -0.00025969743728637695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617860049009323,
      "action": [
        0.4009665250778198,
        -0.13166935741901398,
        -0.9998806118965149,
        -0.5370140075683594,
        0.9991346001625061,
        0.9999695420265198,
        -0.949539840221405
      ],
      "proprioception": [
        -3.4941651821136475,
        -1.0987699031829834,
        0.9453734755516052,
        -1.4056183099746704,
        -1.5899986028671265,
        -0.3888656198978424,
        0.03349362313747406,
        0.6667102575302124,
        -0.13474638760089874,
        0.24617503583431244,
        0.03651585057377815,
        -0.9992446899414062,
        0.013299563899636269,
        -0.9991766810417175,
        -0.036271367222070694,
        0.018181076273322105
      ],
      "bottle_position_world": [
        0.16121168434619904,
        -0.11773078888654709,
        0.8377129435539246
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        -8.756873285165057e-05,
        -3.229155481676571e-05,
        0.037724193185567856
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.35000000000000003,
      "clearance_m": -0.00025004148483276367,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177625954151154,
      "action": [
        0.392574667930603,
        -0.13779674470424652,
        -0.9998300075531006,
        -0.5186566114425659,
        0.9986482858657837,
        0.9999517202377319,
        -0.8920419812202454
      ],
      "proprioception": [
        -3.4912145137786865,
        -1.0900338888168335,
        0.9398236870765686,
        -1.402335286140442,
        -1.5969040393829346,
        -0.39409342408180237,
        0.05846491456031799,
        0.6680076122283936,
        -0.13516807556152344,
        0.242695614695549,
        0.0449180006980896,
        -0.9988448023796082,
        0.017092326655983925,
        -0.9986503720283508,
        -0.04444938525557518,
        0.026872748509049416
      ],
      "bottle_position_world": [
        0.16121883690357208,
        -0.11773493885993958,
        0.8377227187156677
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        -4.2401279642945156e-05,
        4.0019865991780534e-05,
        0.03772272169589996
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.4,
      "clearance_m": -0.00025093555450439453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177667677402496,
      "action": [
        0.3858886957168579,
        -0.14233095943927765,
        -0.9997698664665222,
        -0.48620834946632385,
        0.9979159832000732,
        0.99992835521698,
        -0.7979835867881775
      ],
      "proprioception": [
        -3.4883430004119873,
        -1.0810891389846802,
        0.9340649247169495,
        -1.398825764656067,
        -1.6037267446517944,
        -0.3995465934276581,
        0.10669257491827011,
        0.6693035960197449,
        -0.13561169803142548,
        0.23915016651153564,
        0.053539250046014786,
        -0.998353123664856,
        0.020618747919797897,
        -0.9979651570320129,
        -0.0527794174849987,
        0.035782694816589355
      ],
      "bottle_position_world": [
        0.16121810674667358,
        -0.11773655563592911,
        0.837721586227417
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        -2.5820623704930767e-05,
        3.2173240470001474e-05,
        0.03772132843732834
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.45,
      "clearance_m": -0.00025784969329833984,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178271174430847,
      "action": [
        0.3791135847568512,
        -0.14620986580848694,
        -0.9997045397758484,
        -0.4516950845718384,
        0.9966966509819031,
        0.999897301197052,
        -0.5997742414474487
      ],
      "proprioception": [
        -3.4855639934539795,
        -1.0719232559204102,
        0.9280982613563538,
        -1.3950763940811157,
        -1.6104373931884766,
        -0.4052330553531647,
        0.2054075300693512,
        0.6705951690673828,
        -0.1360771805047989,
        0.23552671074867249,
        0.06237158551812172,
        -0.997768759727478,
        0.023830678313970566,
        -0.9971108436584473,
        -0.0612575002014637,
        0.04492264613509178
      ],
      "bottle_position_world": [
        0.1612207442522049,
        -0.11773883551359177,
        0.8377146124839783
      ],
      "bottle_quaternion_world": [
        0.9992884397506714,
        -1.4108379673416493e-06,
        5.880834214622155e-05,
        0.037719566375017166
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.5,
      "clearance_m": -0.0002593994140625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178438067436218,
      "action": [
        0.37213611602783203,
        -0.15313340723514557,
        -0.9996503591537476,
        -0.4436165988445282,
        0.9946355819702148,
        0.9998697638511658,
        -0.10879243910312653
      ],
      "proprioception": [
        -3.4829869270324707,
        -1.0633213520050049,
        0.9223493337631226,
        -1.391520380973816,
        -1.616808533668518,
        -0.4106995761394501,
        0.4325046241283417,
        0.6718053221702576,
        -0.13654886186122894,
        0.23218904435634613,
        0.07082053273916245,
        -0.9971277713775635,
        0.026850972324609756,
        -0.9961616396903992,
        -0.06931229680776596,
        0.053460486233234406
      ],
      "bottle_position_world": [
        0.16122470796108246,
        -0.11773834377527237,
        0.8377134799957275
      ],
      "bottle_quaternion_world": [
        0.9992884397506714,
        -4.955657004757086e-06,
        9.949040395440534e-05,
        0.03771764412522316
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.55,
      "clearance_m": -0.00025856494903564453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178058087825775,
      "action": [
        0.36362144351005554,
        -0.17921017110347748,
        -0.9996470808982849,
        -0.5303482413291931,
        0.9905540347099304,
        0.9998722672462463,
        0.746362566947937
      ],
      "proprioception": [
        -3.480273485183716,
        -1.0547081232070923,
        0.9170165657997131,
        -1.388482928276062,
        -1.6238539218902588,
        -0.41598716378211975,
        0.7779996991157532,
        0.6730096936225891,
        -0.13711199164390564,
        0.22869588434696198,
        0.07931876182556152,
        -0.9963847398757935,
        0.030436396598815918,
        -0.9950641393661499,
        -0.07731323689222336,
        0.06221165508031845
      ],
      "bottle_position_world": [
        0.16122034192085266,
        -0.11774623394012451,
        0.8377141356468201
      ],
      "bottle_quaternion_world": [
        0.9992885589599609,
        7.411959086311981e-05,
        5.157053601578809e-05,
        0.03771573305130005
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.6000000000000001,
      "clearance_m": -0.00026535987854003906,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177867352962494,
      "action": [
        0.3432852029800415,
        -0.22819864749908447,
        -0.9995676279067993,
        -0.6312575340270996,
        0.9793865084648132,
        0.9998559951782227,
        0.9746532440185547
      ],
      "proprioception": [
        -3.4775285720825195,
        -1.04640793800354,
        0.9123732447624207,
        -1.3862398862838745,
        -1.6316252946853638,
        -0.4211292564868927,
        0.9302448034286499,
        0.6741625070571899,
        -0.1378404051065445,
        0.22516565024852753,
        0.08779968321323395,
        -0.9955315589904785,
        0.03476504981517792,
        -0.9938400387763977,
        -0.0851743295788765,
        0.07090704143047333
      ],
      "bottle_position_world": [
        0.16121406853199005,
        -0.11775045096874237,
        0.837713897228241
      ],
      "bottle_quaternion_world": [
        0.9992885589599609,
        0.00011514522338984534,
        -1.4647487660113256e-05,
        0.03771372511982918
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.65,
      "clearance_m": -0.00025147199630737305,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177590191364288,
      "action": [
        0.3209743797779083,
        -0.236929252743721,
        -0.9994311332702637,
        -0.45572641491889954,
        0.9359050989151001,
        0.9997159838676453,
        0.98496013879776
      ],
      "proprioception": [
        -3.4752626419067383,
        -1.037851095199585,
        0.9073958396911621,
        -1.3833632469177246,
        -1.638482928276062,
        -0.4273955225944519,
        0.9730232357978821,
        0.6752573847770691,
        -0.13861523568630219,
        0.22154974937438965,
        0.0969473198056221,
        -0.9945698976516724,
        0.03784666210412979,
        -0.9923964142799377,
        -0.09369826316833496,
        0.07981374859809875
      ],
      "bottle_position_world": [
        0.161217600107193,
        -0.1177404597401619,
        0.8377209305763245
      ],
      "bottle_quaternion_world": [
        0.9992886781692505,
        1.445371799491113e-05,
        2.577674422354903e-05,
        0.037712350487709045
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.7000000000000001,
      "clearance_m": -0.00023609399795532227,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176055371761322,
      "action": [
        0.320107102394104,
        -0.22570864856243134,
        -0.9993789792060852,
        -0.20251019299030304,
        0.8725169897079468,
        0.9995504021644592,
        0.9876786470413208
      ],
      "proprioception": [
        -3.473788261413574,
        -1.0294965505599976,
        0.9019078612327576,
        -1.3797343969345093,
        -1.643280267715454,
        -0.43473535776138306,
        0.986413300037384,
        0.6762999296188354,
        -0.1393284797668457,
        0.2182076871395111,
        0.10627377778291702,
        -0.9935783743858337,
        0.03883664309978485,
        -0.9908313751220703,
        -0.10254137217998505,
        0.08797043561935425
      ],
      "bottle_position_world": [
        0.1612163633108139,
        -0.11774361878633499,
        0.8377360701560974
      ],
      "bottle_quaternion_world": [
        0.9992886781692505,
        4.619248284143396e-05,
        1.2074447113263886e-05,
        0.037712715566158295
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.75,
      "clearance_m": -0.00024569034576416016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177010536193848,
      "action": [
        0.3290603756904602,
        -0.21140927076339722,
        -0.9993615746498108,
        0.02431059442460537,
        0.7944493293762207,
        0.9993634819984436,
        0.9931818842887878
      ],
      "proprioception": [
        -3.473043203353882,
        -1.0207266807556152,
        0.8959712982177734,
        -1.3755189180374146,
        -1.6461867094039917,
        -0.4435410499572754,
        0.9915444254875183,
        0.6773858070373535,
        -0.14002202451229095,
        0.21469718217849731,
        0.11621510982513428,
        -0.9925113320350647,
        0.03762315958738327,
        -0.9890512824058533,
        -0.11217515170574188,
        0.09588748961687088
      ],
      "bottle_position_world": [
        0.16121642291545868,
        -0.1177409291267395,
        0.8377268314361572
      ],
      "bottle_quaternion_world": [
        0.9992886781692505,
        1.8711292796069756e-05,
        1.2906559277325869e-05,
        0.0377136655151844
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.8,
      "clearance_m": -0.0002639293670654297,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177968680858612,
      "action": [
        0.3377976715564728,
        -0.19577376544475555,
        -0.9993659257888794,
        0.2401656210422516,
        0.6938856840133667,
        0.9991249442100525,
        0.996191143989563
      ],
      "proprioception": [
        -3.473121166229248,
        -1.0120149850845337,
        0.8901439309120178,
        -1.371366262435913,
        -1.6469393968582153,
        -0.4537390470504761,
        0.9937694072723389,
        0.6785136461257935,
        -0.14068935811519623,
        0.21112237870693207,
        0.1265176683664322,
        -0.9913747310638428,
        0.03420456126332283,
        -0.9871307611465454,
        -0.12242627888917923,
        0.10288450866937637
      ],
      "bottle_position_world": [
        0.1612032800912857,
        -0.1177336648106575,
        0.8377176523208618
      ],
      "bottle_quaternion_world": [
        0.9992885589599609,
        -6.0867940192110837e-05,
        -0.00011822362284874544,
        0.03771354258060455
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.8500000000000001,
      "clearance_m": -0.0002608299255371094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178719699382782,
      "action": [
        0.3510412871837616,
        -0.1853344589471817,
        -0.9994006752967834,
        0.4303423762321472,
        0.5518262386322021,
        0.9987693428993225,
        0.9978410005569458
      ],
      "proprioception": [
        -3.4740567207336426,
        -1.00382399559021,
        0.8852527737617493,
        -1.3682113885879517,
        -1.6454864740371704,
        -0.4653394818305969,
        0.9948132038116455,
        0.6796947121620178,
        -0.14134784042835236,
        0.20748591423034668,
        0.13709139823913574,
        -0.9901399612426758,
        0.028796274214982986,
        -0.9851415157318115,
        -0.13324794173240662,
        0.10835842043161392
      ],
      "bottle_position_world": [
        0.1612163484096527,
        -0.11773204058408737,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.9992885589599609,
        -7.32141052139923e-05,
        1.622475974727422e-05,
        0.0377146452665329
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.9,
      "clearance_m": -0.00026673078536987305,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178163886070251,
      "action": [
        0.3679293394088745,
        -0.17683589458465576,
        -0.9994673728942871,
        0.5806525945663452,
        0.35039860010147095,
        0.9982081651687622,
        0.9986920952796936
      ],
      "proprioception": [
        -3.4756486415863037,
        -0.9973560571670532,
        0.8825372457504272,
        -1.3673878908157349,
        -1.6421703100204468,
        -0.4773944020271301,
        0.9953755736351013,
        0.6808755397796631,
        -0.1419363021850586,
        0.20415127277374268,
        0.147181436419487,
        -0.9888551235198975,
        0.022441118955612183,
        -0.983332097530365,
        -0.14383532106876373,
        0.11121976375579834
      ],
      "bottle_position_world": [
        0.16122250258922577,
        -0.11774855852127075,
        0.8377124071121216
      ],
      "bottle_quaternion_world": [
        0.9992884397506714,
        9.860820864560083e-05,
        7.285463652806357e-05,
        0.037716805934906006
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 0.9500000000000001,
      "clearance_m": -0.00025898218154907227,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178160905838013,
      "action": [
        0.3928603231906891,
        -0.17415282130241394,
        -0.9995967745780945,
        0.6992524862289429,
        0.10190893709659576,
        0.9974546432495117,
        0.9992081522941589
      ],
      "proprioception": [
        -3.477987051010132,
        -0.992403507232666,
        0.8827553987503052,
        -1.3697888851165771,
        -1.6369842290878296,
        -0.4903998374938965,
        0.9957228899002075,
        0.6821423172950745,
        -0.14255082607269287,
        0.20069853961467743,
        0.15720559656620026,
        -0.9874503016471863,
        0.015132900327444077,
        -0.9816691279411316,
        -0.15457645058631897,
        0.111500583589077
      ],
      "bottle_position_world": [
        0.16122116148471832,
        -0.1177443340420723,
        0.8377138376235962
      ],
      "bottle_quaternion_world": [
        0.9992884397506714,
        5.475403304444626e-05,
        6.035316255292855e-05,
        0.03771892189979553
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.0,
      "clearance_m": -0.0002557039260864258,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177387535572052,
      "action": [
        0.4162191152572632,
        -0.1569518744945526,
        -0.9996839761734009,
        0.7786097526550293,
        -0.13119539618492126,
        0.9964182376861572,
        0.9993729591369629
      ],
      "proprioception": [
        -3.480753183364868,
        -0.9890596866607666,
        0.8858686685562134,
        -1.3754377365112305,
        -1.6304824352264404,
        -0.5036919116973877,
        0.996023416519165,
        0.6834964752197266,
        -0.14312542974948883,
        0.1972314864397049,
        0.1669115275144577,
        -0.9859428405761719,
        0.007597755175083876,
        -0.9802048802375793,
        -0.16509807109832764,
        0.10927562415599823
      ],
      "bottle_position_world": [
        0.16122131049633026,
        -0.11774057894945145,
        0.8377234935760498
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        1.6398505977122113e-05,
        6.296618812484667e-05,
        0.03772027790546417
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.05,
      "clearance_m": -0.00024271011352539062,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176888346672058,
      "action": [
        0.4359583854675293,
        -0.13788579404354095,
        -0.9997178912162781,
        0.821785569190979,
        -0.30457159876823425,
        0.9944953918457031,
        0.9994633197784424
      ],
      "proprioception": [
        -3.483703136444092,
        -0.9867820739746094,
        0.890987753868103,
        -1.383395791053772,
        -1.623235821723938,
        -0.5169281363487244,
        0.9962729215621948,
        0.6849268674850464,
        -0.14364847540855408,
        0.193736732006073,
        0.17630426585674286,
        -0.9843359589576721,
        0.00016631511971354485,
        -0.9788643717765808,
        -0.17530643939971924,
        0.10532162338495255
      ],
      "bottle_position_world": [
        0.16121305525302887,
        -0.11773458123207092,
        0.8377300500869751
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        -4.8516947572352365e-05,
        -1.9723182049347088e-05,
        0.037721045315265656
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.1,
      "clearance_m": -0.00024187564849853516,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617586463689804,
      "action": [
        0.4458461403846741,
        -0.12474486976861954,
        -0.999703049659729,
        0.8427579402923584,
        -0.3982076048851013,
        0.9914073944091797,
        0.9995061755180359
      ],
      "proprioception": [
        -3.4865055084228516,
        -0.9851658344268799,
        0.8966431021690369,
        -1.3919544219970703,
        -1.6160471439361572,
        -0.5293409824371338,
        0.996458113193512,
        0.6863282322883606,
        -0.14407704770565033,
        0.19050802290439606,
        0.18506047129631042,
        -0.9827049970626831,
        -0.006660652346909046,
        -0.9776168465614319,
        -0.1847841590642929,
        0.100601427257061
      ],
      "bottle_position_world": [
        0.16121098399162292,
        -0.11774388700723648,
        0.8377373814582825
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        4.623023414751515e-05,
        -4.40753428847529e-05,
        0.037720050662755966
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.1500000000000001,
      "clearance_m": -0.0002468228340148926,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617693156003952,
      "action": [
        0.45237383246421814,
        -0.12104831635951996,
        -0.9996898174285889,
        0.858030378818512,
        -0.44236084818840027,
        0.9878787994384766,
        0.9995994567871094
      ],
      "proprioception": [
        -3.4894232749938965,
        -0.9835579991340637,
        0.90265291929245,
        -1.4009819030761719,
        -1.608549952507019,
        -0.5418584942817688,
        0.9965735673904419,
        0.6877673268318176,
        -0.14451999962329865,
        0.18716326355934143,
        0.19380533695220947,
        -0.9809462428092957,
        -0.013582656159996986,
        -0.9763041138648987,
        -0.1942099928855896,
        0.09546216577291489
      ],
      "bottle_position_world": [
        0.16121262311935425,
        -0.11774395406246185,
        0.8377261161804199
      ],
      "bottle_quaternion_world": [
        0.9992884397506714,
        4.7627694584662095e-05,
        -2.722668432397768e-05,
        0.03771982342004776
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.2000000000000002,
      "clearance_m": -0.00023883581161499023,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176332533359528,
      "action": [
        0.4509095847606659,
        -0.11759331077337265,
        -0.9996127486228943,
        0.8626564145088196,
        -0.4542585015296936,
        0.9826759099960327,
        0.9996127486228943
      ],
      "proprioception": [
        -3.492399215698242,
        -0.9818727374076843,
        0.9087115526199341,
        -1.410115122795105,
        -1.6008553504943848,
        -0.5544909834861755,
        0.9966504573822021,
        0.6892233490943909,
        -0.14496131241321564,
        0.18376126885414124,
        0.20261597633361816,
        -0.9790424704551697,
        -0.020567793399095535,
        -0.9748917818069458,
        -0.20364925265312195,
        0.0900753065943718
      ],
      "bottle_position_world": [
        0.16122028231620789,
        -0.11774298548698425,
        0.837733805179596
      ],
      "bottle_quaternion_world": [
        0.9992884397506714,
        4.085071122972295e-05,
        5.167516792425886e-05,
        0.037719689309597015
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.25,
      "clearance_m": -0.00025588274002075195,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617792695760727,
      "action": [
        0.446625679731369,
        -0.11747957766056061,
        -0.9994902610778809,
        0.8644223213195801,
        -0.4544266164302826,
        0.9753339886665344,
        0.999634325504303
      ],
      "proprioception": [
        -3.4954445362091064,
        -0.9800333380699158,
        0.9147082567214966,
        -1.4192053079605103,
        -1.5929901599884033,
        -0.5672644376754761,
        0.9966965913772583,
        0.6906850934028625,
        -0.14541345834732056,
        0.1802903413772583,
        0.21150662004947662,
        -0.9769856333732605,
        -0.027649056166410446,
        -0.9733625650405884,
        -0.2131148874759674,
        0.08454424887895584
      ],
      "bottle_position_world": [
        0.16122031211853027,
        -0.11774273961782455,
        0.837716817855835
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        3.838308111880906e-05,
        5.178599167265929e-05,
        0.037721168249845505
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.3,
      "clearance_m": -0.0002560615539550781,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617790311574936,
      "action": [
        0.44117850065231323,
        -0.11864704638719559,
        -0.9993078708648682,
        0.8647648692131042,
        -0.4481304883956909,
        0.9650942087173462,
        0.9996531009674072
      ],
      "proprioception": [
        -3.4983341693878174,
        -0.9782352447509766,
        0.9201866388320923,
        -1.427659034729004,
        -1.5854309797286987,
        -0.5794345736503601,
        0.996731698513031,
        0.6920753121376038,
        -0.14582285284996033,
        0.17705948650836945,
        0.2200073003768921,
        -0.974894106388092,
        -0.03433319926261902,
        -0.971811056137085,
        -0.22209718823432922,
        0.07909802347421646
      ],
      "bottle_position_world": [
        0.16121722757816315,
        -0.11774338036775589,
        0.8377164602279663
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        4.372268813312985e-05,
        2.0109380784560926e-05,
        0.0377228707075119
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.35,
      "clearance_m": -0.0002512931823730469,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617737114429474,
      "action": [
        0.43794289231300354,
        -0.1171586886048317,
        -0.9991395473480225,
        0.8652569651603699,
        -0.438006728887558,
        0.9532332420349121,
        0.9997343420982361
      ],
      "proprioception": [
        -3.5013256072998047,
        -0.9761501550674438,
        0.9255295991897583,
        -1.4359691143035889,
        -1.5776668787002563,
        -0.5918134450912476,
        0.996742308139801,
        0.6934732794761658,
        -0.146257683634758,
        0.17369326949119568,
        0.22860851883888245,
        -0.9726450443267822,
        -0.04123871400952339,
        -0.9701315760612488,
        -0.2311391830444336,
        0.07362241297960281
      ],
      "bottle_position_world": [
        0.16121865808963776,
        -0.11774446815252304,
        0.8377219438552856
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        5.5487929785158485e-05,
        3.408144402783364e-05,
        0.03772428259253502
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.4000000000000001,
      "clearance_m": -0.0002593398094177246,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617794930934906,
      "action": [
        0.43056121468544006,
        -0.1177147924900055,
        -0.9987887144088745,
        0.8634800910949707,
        -0.42174479365348816,
        0.9354954361915588,
        0.9997515082359314
      ],
      "proprioception": [
        -3.5043981075286865,
        -0.9738379120826721,
        0.9306704998016357,
        -1.444056749343872,
        -1.5697176456451416,
        -0.6043574810028076,
        0.9967471361160278,
        0.6948702931404114,
        -0.14670559763908386,
        0.17025987803936005,
        0.23728695511817932,
        -0.9702376127243042,
        -0.048317644745111465,
        -0.9683309197425842,
        -0.2402109056711197,
        0.06807798892259598
      ],
      "bottle_position_world": [
        0.16121506690979004,
        -0.11773302406072617,
        0.8377195000648499
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        -6.312151526799425e-05,
        1.8407366724204621e-06,
        0.037723395973443985
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.4500000000000002,
      "clearance_m": -0.00026041269302368164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617838740348816,
      "action": [
        0.42270705103874207,
        -0.11819588392972946,
        -0.9982470870018005,
        0.8610564470291138,
        -0.3981775641441345,
        0.9114802479743958,
        0.9997783303260803
      ],
      "proprioception": [
        -3.507558822631836,
        -0.9712329506874084,
        0.935509979724884,
        -1.4517929553985596,
        -1.5615754127502441,
        -0.6170510053634644,
        0.9967434406280518,
        0.6962610483169556,
        -0.14716824889183044,
        0.16675136983394623,
        0.24601079523563385,
        -0.967669665813446,
        -0.0556272454559803,
        -0.9664097428321838,
        -0.24928486347198486,
        0.06252705305814743
      ],
      "bottle_position_world": [
        0.16120058298110962,
        -0.11773455888032913,
        0.8377125263214111
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        -5.3563955589197576e-05,
        -0.00014791943249292672,
        0.037722162902355194
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.5,
      "clearance_m": -0.0002638697624206543,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178257763385773,
      "action": [
        0.4135242700576782,
        -0.11726685613393784,
        -0.9973682761192322,
        0.8579568862915039,
        -0.3635071814060211,
        0.8804789781570435,
        0.999809205532074
      ],
      "proprioception": [
        -3.5105648040771484,
        -0.9685553312301636,
        0.9396019577980042,
        -1.4585970640182495,
        -1.5537192821502686,
        -0.6291303634643555,
        0.9967398643493652,
        0.6975768208503723,
        -0.14758005738258362,
        0.16348502039909363,
        0.2543047368526459,
        -0.9650907516479492,
        -0.06268784403800964,
        -0.9644863605499268,
        -0.25786200165748596,
        0.057216349989175797
      ],
      "bottle_position_world": [
        0.1612120121717453,
        -0.11773522943258286,
        0.8377150297164917
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        -4.1712733946042135e-05,
        -3.0376922950381413e-05,
        0.037723392248153687
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.55,
      "clearance_m": -0.0002550482749938965,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177526116371155,
      "action": [
        0.4018357992172241,
        -0.11140383034944534,
        -0.996183454990387,
        0.8485362529754639,
        -0.31852373480796814,
        0.8442290425300598,
        0.9998739361763
      ],
      "proprioception": [
        -3.5136752128601074,
        -0.9653981924057007,
        0.9432353973388672,
        -1.4647947549819946,
        -1.5456479787826538,
        -0.6413977146148682,
        0.9967268109321594,
        0.6988744735717773,
        -0.14800713956356049,
        0.16006606817245483,
        0.26263394951820374,
        -0.962340235710144,
        -0.07018078863620758,
        -0.9624367356300354,
        -0.2664601802825928,
        0.05210584029555321
      ],
      "bottle_position_world": [
        0.16121429204940796,
        -0.1177319586277008,
        0.8377243280410767
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        -7.498802006011829e-05,
        -5.926818175794324e-06,
        0.03772338852286339
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.6,
      "clearance_m": -0.00024688243865966797,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617644876241684,
      "action": [
        0.38944223523139954,
        -0.11183270066976547,
        -0.993884801864624,
        0.8413180708885193,
        -0.27357611060142517,
        0.7926320433616638,
        0.9998918175697327
      ],
      "proprioception": [
        -3.516906976699829,
        -0.9618021249771118,
        0.9462889432907104,
        -1.4702743291854858,
        -1.5373095273971558,
        -0.653755784034729,
        0.9967155456542969,
        0.7001554369926453,
        -0.14844746887683868,
        0.15657150745391846,
        0.27087801694869995,
        -0.9594390392303467,
        -0.07811883091926575,
        -0.9603017568588257,
        -0.27495747804641724,
        0.047110795974731445
      ],
      "bottle_position_world": [
        0.16121497750282288,
        -0.11774207651615143,
        0.8377322554588318
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        2.848602889571339e-05,
        -2.2288684249360813e-06,
        0.037723127752542496
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.6500000000000001,
      "clearance_m": -0.00025135278701782227,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176927089691162,
      "action": [
        0.3786733150482178,
        -0.113863505423069,
        -0.9900205135345459,
        0.8335193395614624,
        -0.23194235563278198,
        0.7232125401496887,
        0.9999086856842041
      ],
      "proprioception": [
        -3.520311117172241,
        -0.9577335715293884,
        0.9487210512161255,
        -1.474980115890503,
        -1.528607964515686,
        -0.666102945804596,
        0.9967003464698792,
        0.7014207243919373,
        -0.14891211688518524,
        0.15299570560455322,
        0.2788711488246918,
        -0.9564155340194702,
        -0.08660633116960526,
        -0.9581342935562134,
        -0.28319352865219116,
        0.04219905659556389
      ],
      "bottle_position_world": [
        0.16121350228786469,
        -0.11774159967899323,
        0.8377271294593811
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        2.2874637579661794e-05,
        -1.7499043678981252e-05,
        0.03772337734699249
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.7000000000000002,
      "clearance_m": -0.00022542476654052734,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16175368428230286,
      "action": [
        0.36978358030319214,
        -0.11586960405111313,
        -0.9836695194244385,
        0.8246769309043884,
        -0.19497494399547577,
        0.6368324756622314,
        0.9999192357063293
      ],
      "proprioception": [
        -3.5236527919769287,
        -0.9535895586013794,
        0.9503589868545532,
        -1.4786908626556396,
        -1.519970178604126,
        -0.6775964498519897,
        0.9966863989830017,
        0.7026257514953613,
        -0.14933346211910248,
        0.1496795266866684,
        0.2860724627971649,
        -0.95348060131073,
        -0.09506885707378387,
        -0.9561145305633545,
        -0.29059427976608276,
        0.03742501139640808
      ],
      "bottle_position_world": [
        0.16121703386306763,
        -0.11773544549942017,
        0.8377465009689331
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        -3.8801001210231334e-05,
        2.1760017261840403e-05,
        0.03772290423512459
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.75,
      "clearance_m": -0.00024181604385375977,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617661863565445,
      "action": [
        0.3577239215373993,
        -0.11383578181266785,
        -0.974886417388916,
        0.8055378198623657,
        -0.16391682624816895,
        0.5421603918075562,
        0.999937117099762
      ],
      "proprioception": [
        -3.527204751968384,
        -0.9489746689796448,
        0.9515790939331055,
        -1.481803059577942,
        -1.5109206438064575,
        -0.6886439919471741,
        0.9966665506362915,
        0.7038108110427856,
        -0.1497921347618103,
        0.14620375633239746,
        0.29255154728889465,
        -0.9505627751350403,
        -0.10413753986358643,
        -0.954231858253479,
        -0.2972693145275116,
        0.03275623917579651
      ],
      "bottle_position_world": [
        0.1612159013748169,
        -0.11774051189422607,
        0.837731122970581
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        1.3028500688960776e-05,
        7.980681402841583e-06,
        0.03772405907511711
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.8,
      "clearance_m": -0.00024235248565673828,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176752746105194,
      "action": [
        0.34377577900886536,
        -0.1140357032418251,
        -0.9603235721588135,
        0.7880551815032959,
        -0.1432621031999588,
        0.4434092938899994,
        0.9999370574951172
      ],
      "proprioception": [
        -3.5307486057281494,
        -0.944116473197937,
        0.9525820016860962,
        -1.4846644401550293,
        -1.5019468069076538,
        -0.6985540986061096,
        0.9966530799865723,
        0.7049826979637146,
        -0.1502714902162552,
        0.14265435934066772,
        0.29790952801704407,
        -0.9478596448898315,
        -0.11319197714328766,
        -0.952637791633606,
        -0.30278927087783813,
        0.028286948800086975
      ],
      "bottle_position_world": [
        0.16121532022953033,
        -0.11773916333913803,
        0.8377301096916199
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        -1.1219129874007194e-06,
        2.1491591724043246e-06,
        0.03772488981485367
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.85,
      "clearance_m": -0.00023090839385986328,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16175952553749084,
      "action": [
        0.3283609449863434,
        -0.11298537999391556,
        -0.939126193523407,
        0.7716691493988037,
        -0.13526733219623566,
        0.343717485666275,
        0.9999344348907471
      ],
      "proprioception": [
        -3.534301996231079,
        -0.9391511678695679,
        0.953632116317749,
        -1.4875550270080566,
        -1.4929949045181274,
        -0.7072873115539551,
        0.9966447353363037,
        0.7061399817466736,
        -0.15076853334903717,
        0.13902567327022552,
        0.3021056056022644,
        -0.9454109072685242,
        -0.12219388037919998,
        -0.9513770341873169,
        -0.30710136890411377,
        0.02390175312757492
      ],
      "bottle_position_world": [
        0.1612192690372467,
        -0.11773338168859482,
        0.8377412557601929
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        -5.889612657483667e-05,
        4.514096144703217e-05,
        0.037724610418081284
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.9000000000000001,
      "clearance_m": -0.00025647878646850586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178373992443085,
      "action": [
        0.3066485822200775,
        -0.11025463789701462,
        -0.9056817293167114,
        0.7507270574569702,
        -0.1323888897895813,
        0.2475731074810028,
        0.9999322891235352
      ],
      "proprioception": [
        -3.5375895500183105,
        -0.9347434043884277,
        0.9547010660171509,
        -1.4902817010879517,
        -1.4846101999282837,
        -0.7144283652305603,
        0.9966447353363037,
        0.7071913480758667,
        -0.15119768679141998,
        0.13577678799629211,
        0.3050925135612488,
        -0.9433503150939941,
        -0.13041967153549194,
        -0.9504939317703247,
        -0.31012120842933655,
        0.019662272185087204
      ],
      "bottle_position_world": [
        0.1612273007631302,
        -0.11773332953453064,
        0.837716281414032
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        -5.5917877034517005e-05,
        0.00012664328096434474,
        0.03772420808672905
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 1.9500000000000002,
      "clearance_m": -0.00025337934494018555,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617785394191742,
      "action": [
        0.2797275185585022,
        -0.10482186079025269,
        -0.8593553304672241,
        0.715859055519104,
        -0.12847039103507996,
        0.15611834824085236,
        0.9999364018440247
      ],
      "proprioception": [
        -3.5408742427825928,
        -0.9305093884468079,
        0.9560137987136841,
        -1.4930366277694702,
        -1.4763844013214111,
        -0.7204467058181763,
        0.996643602848053,
        0.7081500291824341,
        -0.15164221823215485,
        0.13255318999290466,
        0.30700719356536865,
        -0.9415797591209412,
        -0.138473242521286,
        -0.9499446153640747,
        -0.3120294511318207,
        0.015604507178068161
      ],
      "bottle_position_world": [
        0.16122077405452728,
        -0.1177375316619873,
        0.8377195596694946
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        -1.5324527339544147e-05,
        5.845886335009709e-05,
        0.037724774330854416
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.0,
      "clearance_m": -0.0002447366714477539,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177016496658325,
      "action": [
        0.2490772306919098,
        -0.0974736288189888,
        -0.774761438369751,
        0.6700881719589233,
        -0.12374155223369598,
        0.07730741053819656,
        0.9999319314956665
      ],
      "proprioception": [
        -3.54404616355896,
        -0.9266523718833923,
        0.9573292136192322,
        -1.4955893754959106,
        -1.4684897661209106,
        -0.7253623604774475,
        0.9966438412666321,
        0.7090117335319519,
        -0.15206648409366608,
        0.12958924472332,
        0.30800941586494446,
        -0.9400983452796936,
        -0.14610321819782257,
        -0.9496906399726868,
        -0.31297168135643005,
        0.011707596480846405
      ],
      "bottle_position_world": [
        0.16121356189250946,
        -0.11773771792650223,
        0.8377276062965393
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        -1.6373302059946582e-05,
        -1.5666752005927265e-05,
        0.037725187838077545
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.0500000000000003,
      "clearance_m": -0.0002372264862060547,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176185011863708,
      "action": [
        0.21285705268383026,
        -0.08515122532844543,
        -0.645849347114563,
        0.6019778251647949,
        -0.11088717728853226,
        0.030144035816192627,
        0.9999260306358337
      ],
      "proprioception": [
        -3.546963930130005,
        -0.923244059085846,
        0.9582973718643188,
        -1.4975429773330688,
        -1.4612691402435303,
        -0.729367733001709,
        0.9966393709182739,
        0.7097514867782593,
        -0.15245284140110016,
        0.12705853581428528,
        0.30843567848205566,
        -0.9388513565063477,
        -0.15305662155151367,
        -0.9496173858642578,
        -0.3133060038089752,
        0.008179020136594772
      ],
      "bottle_position_world": [
        0.16121676564216614,
        -0.11773864179849625,
        0.8377365469932556
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        -5.875126134924358e-06,
        1.6547513951081783e-05,
        0.03772509843111038
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.1,
      "clearance_m": -0.00022983551025390625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16175322234630585,
      "action": [
        0.16643208265304565,
        -0.06649348139762878,
        -0.4740615785121918,
        0.5048163533210754,
        -0.09258856624364853,
        0.035128213465213776,
        0.9999167323112488
      ],
      "proprioception": [
        -3.5492615699768066,
        -0.9206649661064148,
        0.9586365818977356,
        -1.49855375289917,
        -1.4554933309555054,
        -0.7326995134353638,
        0.9966313242912292,
        0.7103158235549927,
        -0.15272609889507294,
        0.12531132996082306,
        0.30893316864967346,
        -0.9377711415290833,
        -0.15857502818107605,
        -0.9495100975036621,
        -0.31369292736053467,
        0.00527842715382576
      ],
      "bottle_position_world": [
        0.16121622920036316,
        -0.1177460104227066,
        0.8377430438995361
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        6.958437006687745e-05,
        7.609168278577272e-06,
        0.037725478410720825
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.15,
      "clearance_m": -0.00024944543838500977,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177406907081604,
      "action": [
        0.1133989691734314,
        -0.0411236435174942,
        -0.29668763279914856,
        0.3695013225078583,
        -0.08050680160522461,
        0.0621725432574749,
        0.999899685382843
      ],
      "proprioception": [
        -3.5509939193725586,
        -0.9188665151596069,
        0.9587724804878235,
        -1.4990532398223877,
        -1.4511743783950806,
        -0.7356348037719727,
        0.9966201186180115,
        0.7106959223747253,
        -0.15292562544345856,
        0.1241401880979538,
        0.30971041321754456,
        -0.9368090629577637,
        -0.16269342601299286,
        -0.9492980241775513,
        -0.31436413526535034,
        0.00302216038107872
      ],
      "bottle_position_world": [
        0.1612146943807602,
        -0.11774048209190369,
        0.8377225399017334
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        1.1971299500146415e-05,
        -5.656832399836276e-06,
        0.03772555664181709
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.2,
      "clearance_m": -0.00023233890533447266,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16175620257854462,
      "action": [
        0.07150288671255112,
        -0.026823317632079124,
        -0.1609555184841156,
        0.22770816087722778,
        -0.0649859681725502,
        0.10787984728813171,
        0.9998697638511658
      ],
      "proprioception": [
        -3.552075147628784,
        -0.9177803993225098,
        0.9587274789810181,
        -1.4992605447769165,
        -1.4484971761703491,
        -0.7383503317832947,
        0.9966129660606384,
        0.7109385132789612,
        -0.15305879712104797,
        0.12348940968513489,
        0.31104350090026855,
        -0.9359274506568909,
        -0.16520361602306366,
        -0.9488905668258667,
        -0.31560277938842773,
        0.0014229416847229004
      ],
      "bottle_position_world": [
        0.16121557354927063,
        -0.11774422973394394,
        0.837740421295166
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        5.13763225171715e-05,
        2.2555502710019937e-06,
        0.03772536665201187
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.25,
      "clearance_m": -0.00023049116134643555,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16175879538059235,
      "action": [
        0.045992568135261536,
        -0.024253971874713898,
        -0.08679225295782089,
        0.12673063576221466,
        -0.053983423858881,
        0.1355331987142563,
        0.9998314380645752
      ],
      "proprioception": [
        -3.552708387374878,
        -0.9171465635299683,
        0.9586532115936279,
        -1.499430775642395,
        -1.4470138549804688,
        -0.740880012512207,
        0.9966071248054504,
        0.7110968232154846,
        -0.15317007899284363,
        0.1231326013803482,
        0.3127332031726837,
        -0.935126781463623,
        -0.16654329001903534,
        -0.9483550786972046,
        -0.31721171736717224,
        0.00030682608485221863
      ],
      "bottle_position_world": [
        0.16122132539749146,
        -0.11773703247308731,
        0.837740957736969
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        -2.049823888228275e-05,
        6.431480869650841e-05,
        0.03772580996155739
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.3000000000000003,
      "clearance_m": -0.0002551078796386719,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.161781445145607,
      "action": [
        0.03473302721977234,
        -0.024848563596606255,
        -0.052997034043073654,
        0.07427839934825897,
        -0.04691791906952858,
        0.14744940400123596,
        0.9998009204864502
      ],
      "proprioception": [
        -3.5530834197998047,
        -0.9167444109916687,
        0.9585446119308472,
        -1.4995803833007812,
        -1.4461954832077026,
        -0.7431564331054688,
        0.996601939201355,
        0.7112154960632324,
        -0.15326513350009918,
        0.12293296307325363,
        0.3144867718219757,
        -0.934415340423584,
        -0.16723306477069855,
        -0.9477897882461548,
        -0.3188965618610382,
        -0.0005115680396556854
      ],
      "bottle_position_world": [
        0.1612127721309662,
        -0.11773256957530975,
        0.8377172946929932
      ],
      "bottle_quaternion_world": [
        0.9992880821228027,
        -6.958009180380031e-05,
        -2.156578739231918e-05,
        0.037727538496255875
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.35,
      "clearance_m": -0.0002593994140625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617835909128189,
      "action": [
        0.030400292947888374,
        -0.024670738726854324,
        -0.039071835577487946,
        0.05098365247249603,
        -0.04264647513628006,
        0.14950746297836304,
        0.9997882843017578
      ],
      "proprioception": [
        -3.5533618927001953,
        -0.9164062738418579,
        0.958408534526825,
        -1.4997185468673706,
        -1.445646047592163,
        -0.7453690767288208,
        0.9965975284576416,
        0.7113205790519714,
        -0.1533609926700592,
        0.12278145551681519,
        0.31629201769828796,
        -0.933726966381073,
        -0.16767188906669617,
        -0.94720059633255,
        -0.3206402361392975,
        -0.0012017041444778442
      ],
      "bottle_position_world": [
        0.1612110286951065,
        -0.1177368015050888,
        0.8377132415771484
      ],
      "bottle_quaternion_world": [
        0.9992879629135132,
        -2.6612689907778986e-05,
        -4.089780486538075e-05,
        0.0377294160425663
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.4000000000000004,
      "clearance_m": -0.00025272369384765625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177798807621002,
      "action": [
        0.02783348225057125,
        -0.024326572194695473,
        -0.03194095939397812,
        0.03932971879839897,
        -0.039573606103658676,
        0.14566867053508759,
        0.9997829794883728
      ],
      "proprioception": [
        -3.5535900592803955,
        -0.9161038398742676,
        0.9582580327987671,
        -1.4998478889465332,
        -1.445228934288025,
        -0.7474988698959351,
        0.9965938925743103,
        0.7114188075065613,
        -0.1534547358751297,
        0.12265673279762268,
        0.31807640194892883,
        -0.9330641627311707,
        -0.16798561811447144,
        -0.9466131925582886,
        -0.32236719131469727,
        -0.001821707934141159
      ],
      "bottle_position_world": [
        0.16121233999729156,
        -0.11773476004600525,
        0.8377201557159424
      ],
      "bottle_quaternion_world": [
        0.9992879629135132,
        -4.757681745104492e-05,
        -2.6851199436350726e-05,
        0.037730906158685684
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.45,
      "clearance_m": -0.0002586841583251953,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178086400032043,
      "action": [
        0.025988686829805374,
        -0.02353113517165184,
        -0.027493787929415703,
        0.03238234668970108,
        -0.03728489577770233,
        0.1386607140302658,
        0.9997828006744385
      ],
      "proprioception": [
        -3.5537891387939453,
        -0.9158278107643127,
        0.9581096768379211,
        -1.4999783039093018,
        -1.4448859691619873,
        -0.7495267987251282,
        0.9965914487838745,
        0.7115117907524109,
        -0.15354622900485992,
        0.12254737317562103,
        0.3197970390319824,
        -0.9324323534965515,
        -0.1682271659374237,
        -0.9460431337356567,
        -0.32403305172920227,
        -0.0023946166038513184
      ],
      "bottle_position_world": [
        0.16121768951416016,
        -0.1177450492978096,
        0.8377139568328857
      ],
      "bottle_quaternion_world": [
        0.9992879629135132,
        6.068655420676805e-05,
        2.4491217118338682e-05,
        0.03773205354809761
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.5,
      "clearance_m": -0.0002537369728088379,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177810728549957,
      "action": [
        0.024221420288085938,
        -0.02265608310699463,
        -0.02447204291820526,
        0.02712404355406761,
        -0.03499912843108177,
        0.1305076628923416,
        0.9997850060462952
      ],
      "proprioception": [
        -3.5539538860321045,
        -0.9155933260917664,
        0.9579765200614929,
        -1.5001049041748047,
        -1.4446128606796265,
        -0.7513329386711121,
        0.9965901970863342,
        0.7115954160690308,
        -0.1536281853914261,
        0.12245801091194153,
        0.32134509086608887,
        -0.931868314743042,
        -0.16840262711048126,
        -0.9455271363258362,
        -0.3255310356616974,
        -0.0029008928686380386
      ],
      "bottle_position_world": [
        0.16122116148471832,
        -0.11774089187383652,
        0.8377188444137573
      ],
      "bottle_quaternion_world": [
        0.9992878437042236,
        1.892913678602781e-05,
        6.150236004032195e-05,
        0.03773338720202446
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.5500000000000003,
      "clearance_m": -0.0002574324607849121,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177767515182495,
      "action": [
        0.02304241433739662,
        -0.021635176613926888,
        -0.022402798756957054,
        0.023597588762640953,
        -0.03330821171402931,
        0.1215357780456543,
        0.9997886419296265
      ],
      "proprioception": [
        -3.554107189178467,
        -0.9153732657432556,
        0.9578573703765869,
        -1.5002429485321045,
        -1.4443691968917847,
        -0.75304114818573,
        0.9965888261795044,
        0.7116760611534119,
        -0.15370896458625793,
        0.12237244844436646,
        0.3228135108947754,
        -0.9313344359397888,
        -0.16854757070541382,
        -0.9450356960296631,
        -0.3269508183002472,
        -0.0033800695091485977
      ],
      "bottle_position_world": [
        0.16121631860733032,
        -0.11773383617401123,
        0.8377212882041931
      ],
      "bottle_quaternion_world": [
        0.9992878437042236,
        -5.452921686810441e-05,
        1.4758042198081966e-05,
        0.037732966244220734
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.6,
      "clearance_m": -0.0002574324607849121,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178283095359802,
      "action": [
        0.02195422723889351,
        -0.0205984003841877,
        -0.020322147756814957,
        0.020184902474284172,
        -0.031619489192962646,
        0.11310887336730957,
        0.9997917413711548
      ],
      "proprioception": [
        -3.554246664047241,
        -0.9151703119277954,
        0.9577493071556091,
        -1.5003894567489624,
        -1.4441558122634888,
        -0.7546466588973999,
        0.9965881109237671,
        0.7117540240287781,
        -0.15378688275814056,
        0.12229353189468384,
        0.32420048117637634,
        -0.9308320879936218,
        -0.16866056621074677,
        -0.9445692896842957,
        -0.32829058170318604,
        -0.0038326699286699295
      ],
      "bottle_position_world": [
        0.16121478378772736,
        -0.11773520708084106,
        0.8377150893211365
      ],
      "bottle_quaternion_world": [
        0.9992879629135132,
        -4.155905480729416e-05,
        -1.7514238379590097e-06,
        0.03773130476474762
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.6500000000000004,
      "clearance_m": -0.0002631545066833496,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178345680236816,
      "action": [
        0.020779747515916824,
        -0.019653623923659325,
        -0.018501553684473038,
        0.016921624541282654,
        -0.029812254011631012,
        0.105165496468544,
        0.9997950196266174
      ],
      "proprioception": [
        -3.5543723106384277,
        -0.9149827361106873,
        0.9576509594917297,
        -1.5005414485931396,
        -1.443973422050476,
        -0.7561514973640442,
        0.9965882301330566,
        0.7118286490440369,
        -0.15386220812797546,
        0.12222020328044891,
        0.32550719380378723,
        -0.930360734462738,
        -0.16874311864376068,
        -0.9441280364990234,
        -0.3295520842075348,
        -0.004255816340446472
      ],
      "bottle_position_world": [
        0.1612224578857422,
        -0.11773407459259033,
        0.837715744972229
      ],
      "bottle_quaternion_world": [
        0.9992879629135132,
        -5.0132985052186996e-05,
        7.763339817756787e-05,
        0.03772979602217674
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.7,
      "clearance_m": -0.00025331974029541016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617778241634369,
      "action": [
        0.01962284743785858,
        -0.018877428025007248,
        -0.016698909923434258,
        0.013937060721218586,
        -0.028064055368304253,
        0.0973910540342331,
        0.9997979998588562
      ],
      "proprioception": [
        -3.5544774532318115,
        -0.9148234724998474,
        0.9575660228729248,
        -1.5006897449493408,
        -1.4438278675079346,
        -0.7574759125709534,
        0.9965882301330566,
        0.7118967175483704,
        -0.15392965078353882,
        0.12215964496135712,
        0.3266656696796417,
        -0.929945707321167,
        -0.1687920093536377,
        -0.9437355399131775,
        -0.33066892623901367,
        -0.004631891846656799
      ],
      "bottle_position_world": [
        0.16121023893356323,
        -0.11773715168237686,
        0.837719202041626
      ],
      "bottle_quaternion_world": [
        0.9992880821228027,
        -2.3202614102046937e-05,
        -4.882910070591606e-05,
        0.03772808611392975
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.75,
      "clearance_m": -0.00023978948593139648,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617656797170639,
      "action": [
        0.018738340586423874,
        -0.01780160516500473,
        -0.0153898810967803,
        0.01158574316650629,
        -0.026849335059523582,
        0.08986910432577133,
        0.9998015761375427
      ],
      "proprioception": [
        -3.554574489593506,
        -0.9146773815155029,
        0.9574975967407227,
        -1.5008519887924194,
        -1.4437006711959839,
        -0.7587168216705322,
        0.9965888857841492,
        0.7119625210762024,
        -0.1539955735206604,
        0.1221010759472847,
        0.3277546763420105,
        -0.9295575618743896,
        -0.16882003843784332,
        -0.9433659911155701,
        -0.33171725273132324,
        -0.004989514127373695
      ],
      "bottle_position_world": [
        0.16121456027030945,
        -0.11773649603128433,
        0.8377329707145691
      ],
      "bottle_quaternion_world": [
        0.9992880821228027,
        -2.8294161893427372e-05,
        -4.223895757604623e-06,
        0.03772726282477379
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.8000000000000003,
      "clearance_m": -0.00023603439331054688,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176068782806396,
      "action": [
        0.017761627212166786,
        -0.017124010249972343,
        -0.013867308385670185,
        0.00917510874569416,
        -0.02560826763510704,
        0.08270162343978882,
        0.9998041391372681
      ],
      "proprioception": [
        -3.5546627044677734,
        -0.9145466685295105,
        0.9574429392814636,
        -1.501024603843689,
        -1.443593978881836,
        -0.759871780872345,
        0.9965894222259521,
        0.7120257019996643,
        -0.154059499502182,
        0.12204727530479431,
        0.32877302169799805,
        -0.9291968941688538,
        -0.16882558166980743,
        -0.9430193901062012,
        -0.3326958417892456,
        -0.005327412858605385
      ],
      "bottle_position_world": [
        0.16121289134025574,
        -0.1177380308508873,
        0.8377375602722168
      ],
      "bottle_quaternion_world": [
        0.9992880821228027,
        -1.3436787412501872e-05,
        -2.158865572710056e-05,
        0.037728067487478256
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.85,
      "clearance_m": -0.0002459287643432617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177253425121307,
      "action": [
        0.016894401982426643,
        -0.016331400722265244,
        -0.012477227486670017,
        0.006870882585644722,
        -0.024357648566365242,
        0.07612443715333939,
        0.9998067617416382
      ],
      "proprioception": [
        -3.554741144180298,
        -0.9144300818443298,
        0.9573997259140015,
        -1.5012060403823853,
        -1.4435083866119385,
        -0.7609434127807617,
        0.9965899586677551,
        0.7120867967605591,
        -0.15412147343158722,
        0.12199797481298447,
        0.32972410321235657,
        -0.9288628697395325,
        -0.16880770027637482,
        -0.9426950216293335,
        -0.3336082100868225,
        -0.005645379424095154
      ],
      "bottle_position_world": [
        0.16121621429920197,
        -0.11773520708084106,
        0.8377262949943542
      ],
      "bottle_quaternion_world": [
        0.9992880821228027,
        -4.093813186045736e-05,
        1.3603671504824888e-05,
        0.037729162722826004
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.9000000000000004,
      "clearance_m": -0.0002587437629699707,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178271174430847,
      "action": [
        0.01614382676780224,
        -0.015613364055752754,
        -0.01133239921182394,
        0.004904512315988541,
        -0.0228761974722147,
        0.07029568403959274,
        0.999809205532074
      ],
      "proprioception": [
        -3.5548055171966553,
        -0.9143300652503967,
        0.9573617577552795,
        -1.5013777017593384,
        -1.4434459209442139,
        -0.7618828415870667,
        0.9965906739234924,
        0.7121426463127136,
        -0.1541772186756134,
        0.12195681780576706,
        0.3305644094944,
        -0.9285706281661987,
        -0.1687728315591812,
        -0.9424081444740295,
        -0.3344133496284485,
        -0.005926152691245079
      ],
      "bottle_position_world": [
        0.16120997071266174,
        -0.11773741990327835,
        0.8377138376235962
      ],
      "bottle_quaternion_world": [
        0.9992879629135132,
        -2.0285797290853225e-05,
        -5.08746161358431e-05,
        0.0377308614552021
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 2.95,
      "clearance_m": -0.0002669095993041992,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178137063980103,
      "action": [
        0.015466857701539993,
        -0.014794466085731983,
        -0.01057488564401865,
        0.003457664744928479,
        -0.02165904827415943,
        0.06493581086397171,
        0.9998118877410889
      ],
      "proprioception": [
        -3.554863691329956,
        -0.9142363667488098,
        0.957331120967865,
        -1.501554250717163,
        -1.4433966875076294,
        -0.7627629637718201,
        0.9965910911560059,
        0.7121971249580383,
        -0.1542314887046814,
        0.12191653251647949,
        0.3313554525375366,
        -0.9282972812652588,
        -0.16872602701187134,
        -0.9421374797821045,
        -0.3351705074310303,
        -0.006190808489918709
      ],
      "bottle_position_world": [
        0.16121596097946167,
        -0.1177482083439827,
        0.8377120494842529
      ],
      "bottle_quaternion_world": [
        0.9992878437042236,
        9.272580791730434e-05,
        6.848708835605066e-06,
        0.03773285076022148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.0,
      "clearance_m": -0.0002601146697998047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617809385061264,
      "action": [
        0.01451968401670456,
        -0.014300447888672352,
        -0.009664383716881275,
        0.001761849969625473,
        -0.020415591076016426,
        0.059899911284446716,
        0.9998140931129456
      ],
      "proprioception": [
        -3.554915189743042,
        -0.9141525030136108,
        0.957309365272522,
        -1.501734972000122,
        -1.443364143371582,
        -0.763582170009613,
        0.9965916872024536,
        0.7122491002082825,
        -0.15428468585014343,
        0.12187910079956055,
        0.3320963680744171,
        -0.9280437231063843,
        -0.16866351664066315,
        -0.9418832659721375,
        -0.3358788788318634,
        -0.006437569856643677
      ],
      "bottle_position_world": [
        0.16121543943881989,
        -0.11774799227714539,
        0.8377125263214111
      ],
      "bottle_quaternion_world": [
        0.9992878437042236,
        9.022397716762498e-05,
        1.6474658650622587e-06,
        0.037735022604465485
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.0500000000000003,
      "clearance_m": -0.0002608299255371094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178514063358307,
      "action": [
        0.013859338127076626,
        -0.013649752363562584,
        -0.008671886287629604,
        0.00028055720031261444,
        -0.01936398446559906,
        0.05518610030412674,
        0.9998160600662231
      ],
      "proprioception": [
        -3.554959774017334,
        -0.9140772223472595,
        0.9572930932044983,
        -1.5019183158874512,
        -1.443346381187439,
        -0.7643419504165649,
        0.9965922832489014,
        0.7122992277145386,
        -0.15433593094348907,
        0.12184503674507141,
        0.33278927206993103,
        -0.9278093576431274,
        -0.1685871183872223,
        -0.941645622253418,
        -0.3365404009819031,
        -0.006668556481599808
      ],
      "bottle_position_world": [
        0.16120639443397522,
        -0.1177341565489769,
        0.8377119898796082
      ],
      "bottle_quaternion_world": [
        0.9992877244949341,
        -5.552482616622001e-05,
        -8.588951459387317e-05,
        0.03773730620741844
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.1,
      "clearance_m": -0.0002574920654296875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617812216281891,
      "action": [
        0.013543165288865566,
        -0.012843487784266472,
        -0.007743725553154945,
        -0.0008106174063868821,
        -0.018549928441643715,
        0.0509180910885334,
        0.9998177886009216
      ],
      "proprioception": [
        -3.554995059967041,
        -0.9140137434005737,
        0.9572800397872925,
        -1.5020936727523804,
        -1.44333815574646,
        -0.7650065422058105,
        0.9965928196907043,
        0.7123464345932007,
        -0.15438154339790344,
        0.12181698530912399,
        0.33340126276016235,
        -0.9276046752929688,
        -0.16850368678569794,
        -0.9414356350898743,
        -0.33712315559387207,
        -0.006876874715089798
      ],
      "bottle_position_world": [
        0.16120827198028564,
        -0.11773797869682312,
        0.8377150297164917
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        -1.569823143654503e-05,
        -6.85680570313707e-05,
        0.03773902729153633
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.1500000000000004,
      "clearance_m": -0.0002568960189819336,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178295016288757,
      "action": [
        0.012898102402687073,
        -0.012343975715339184,
        -0.007154983468353748,
        -0.001735575613565743,
        -0.017860472202301025,
        0.04662547633051872,
        0.9998193979263306
      ],
      "proprioception": [
        -3.5550265312194824,
        -0.9139585494995117,
        0.9572783708572388,
        -1.5022777318954468,
        -1.4433376789093018,
        -0.7656250596046448,
        0.9965932369232178,
        0.7123920321464539,
        -0.15442617237567902,
        0.12178990244865417,
        0.33397430181503296,
        -0.9274154305458069,
        -0.16841112077236176,
        -0.941239058971405,
        -0.3376673758029938,
        -0.007076216861605644
      ],
      "bottle_position_world": [
        0.16121597588062286,
        -0.11773360520601273,
        0.8377156853675842
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        -5.769524796050973e-05,
        1.2760364370478783e-05,
        0.03774065151810646
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.2,
      "clearance_m": -0.00026166439056396484,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178014874458313,
      "action": [
        0.012394687160849571,
        -0.011913462541997433,
        -0.006466477178037167,
        -0.0026245596818625927,
        -0.017013778910040855,
        0.04272714629769325,
        0.9998208284378052
      ],
      "proprioception": [
        -3.5550551414489746,
        -0.9139093160629272,
        0.9572805166244507,
        -1.5024638175964355,
        -1.4433451890945435,
        -0.7661974430084229,
        0.9965939521789551,
        0.7124364972114563,
        -0.15447020530700684,
        0.12176506966352463,
        0.33450746536254883,
        -0.9272415041923523,
        -0.16831043362617493,
        -0.9410562515258789,
        -0.33817246556282043,
        -0.007265254855155945
      ],
      "bottle_position_world": [
        0.16120895743370056,
        -0.11773483455181122,
        0.8377174139022827
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        -4.761776654049754e-05,
        -5.984823656035587e-05,
        0.03774239495396614
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.25,
      "clearance_m": -0.00025576353073120117,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178074479103088,
      "action": [
        0.01190643385052681,
        -0.01128082163631916,
        -0.005803624168038368,
        -0.003577993717044592,
        -0.016333669424057007,
        0.03915576636791229,
        0.9998223185539246
      ],
      "proprioception": [
        -3.555077314376831,
        -0.9138677716255188,
        0.9572907090187073,
        -1.5026556253433228,
        -1.4433618783950806,
        -0.766724705696106,
        0.9965943694114685,
        0.7124799489974976,
        -0.1545117050409317,
        0.12174244225025177,
        0.3350052833557129,
        -0.9270820617675781,
        -0.16819952428340912,
        -0.9408859014511108,
        -0.33864280581474304,
        -0.007444100454449654
      ],
      "bottle_position_world": [
        0.161214679479599,
        -0.11773654073476791,
        0.837716817855835
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        -2.7403713829698972e-05,
        -1.2207203781144926e-06,
        0.0377439521253109
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.3000000000000003,
      "clearance_m": -0.0002644062042236328,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178007423877716,
      "action": [
        0.011328659951686859,
        -0.010902564972639084,
        -0.005232748109847307,
        -0.004445055965334177,
        -0.015531118027865887,
        0.03576527163386345,
        0.9998236298561096
      ],
      "proprioception": [
        -3.5550949573516846,
        -0.9138352274894714,
        0.9573047161102295,
        -1.502838134765625,
        -1.4433859586715698,
        -0.767181396484375,
        0.9965947866439819,
        0.7125194668769836,
        -0.15455004572868347,
        0.12172342091798782,
        0.33544039726257324,
        -0.9269450902938843,
        -0.16808676719665527,
        -0.9407369494438171,
        -0.339052677154541,
        -0.00760301947593689
      ],
      "bottle_position_world": [
        0.16122044622898102,
        -0.11774646490812302,
        0.8377146124839783
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        7.643213029950857e-05,
        5.384915857575834e-05,
        0.03774276375770569
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.35,
      "clearance_m": -0.00023865699768066406,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176168620586395,
      "action": [
        0.01067477185279131,
        -0.010572132654488087,
        -0.004845104645937681,
        -0.0051928311586380005,
        -0.014765672385692596,
        0.032478515058755875,
        0.9998248815536499
      ],
      "proprioception": [
        -3.555109977722168,
        -0.9138086438179016,
        0.957326352596283,
        -1.503024935722351,
        -1.4434177875518799,
        -0.767601490020752,
        0.9965950846672058,
        0.7125573754310608,
        -0.15458816289901733,
        0.12170518934726715,
        0.3358439803123474,
        -0.9268205165863037,
        -0.16796676814556122,
        -0.9405988454818726,
        -0.3394317328929901,
        -0.007752289995551109
      ],
      "bottle_position_world": [
        0.16121791303157806,
        -0.11774148792028427,
        0.8377358317375183
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        2.431264874758199e-05,
        3.0199054890545085e-05,
        0.03774159774184227
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.4000000000000004,
      "clearance_m": -0.00024759769439697266,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176599264144897,
      "action": [
        0.010310299694538116,
        -0.010095026344060898,
        -0.004104978404939175,
        -0.00587640842422843,
        -0.014489552937448025,
        0.02913876250386238,
        0.9998258352279663
      ],
      "proprioception": [
        -3.555121898651123,
        -0.913791298866272,
        0.9573581218719482,
        -1.5032209157943726,
        -1.4434542655944824,
        -0.7679813504219055,
        0.9965956211090088,
        0.7125943899154663,
        -0.1546248197555542,
        0.12168946117162704,
        0.33621418476104736,
        -0.9267098307609558,
        -0.16783788800239563,
        -0.9404730796813965,
        -0.33977723121643066,
        -0.007897552102804184
      ],
      "bottle_position_world": [
        0.16121043264865875,
        -0.11773881316184998,
        0.8377313017845154
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        -5.872471319889883e-06,
        -4.588607407640666e-05,
        0.03774181008338928
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.45,
      "clearance_m": -0.00025403499603271484,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617755889892578,
      "action": [
        0.01005183532834053,
        -0.009530512616038322,
        -0.0037153789307922125,
        -0.006452174857258797,
        -0.013969279825687408,
        0.026477837935090065,
        0.9998270273208618
      ],
      "proprioception": [
        -3.5551300048828125,
        -0.9137789011001587,
        0.9573944807052612,
        -1.5034211874008179,
        -1.4434967041015625,
        -0.7683270573616028,
        0.9965960383415222,
        0.712631106376648,
        -0.15466010570526123,
        0.12167540192604065,
        0.3365565538406372,
        -0.9266102313995361,
        -0.1677021086215973,
        -0.9403570294380188,
        -0.3400951325893402,
        -0.008036302402615547
      ],
      "bottle_position_world": [
        0.16121146082878113,
        -0.11774622648954391,
        0.8377184271812439
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        7.085636752890423e-05,
        -3.794553049374372e-05,
        0.03774230554699898
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.5,
      "clearance_m": -0.0002630949020385742,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177639365196228,
      "action": [
        0.009547822177410126,
        -0.009165361523628235,
        -0.0034981376957148314,
        -0.007035424467176199,
        -0.013112560845911503,
        0.024196624755859375,
        0.9998281598091125
      ],
      "proprioception": [
        -3.5551323890686035,
        -0.9137701988220215,
        0.9574305415153503,
        -1.5036084651947021,
        -1.443543791770935,
        -0.7686247825622559,
        0.9965959787368774,
        0.7126648426055908,
        -0.15469098091125488,
        0.12166281044483185,
        0.3368579149246216,
        -0.9265245795249939,
        -0.16756924986839294,
        -0.9402548670768738,
        -0.3403744697570801,
        -0.008157322183251381
      ],
      "bottle_position_world": [
        0.16121314465999603,
        -0.11774458736181259,
        0.8377183675765991
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        5.41356967005413e-05,
        -2.0210711227264255e-05,
        0.03774183616042137
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.5500000000000003,
      "clearance_m": -0.0002601742744445801,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178205609321594,
      "action": [
        0.009167086333036423,
        -0.008853230625391006,
        -0.0031803292222321033,
        -0.007323300000280142,
        -0.012518936768174171,
        0.021876823157072067,
        0.9998291730880737
      ],
      "proprioception": [
        -3.5551323890686035,
        -0.9137640595436096,
        0.9574689865112305,
        -1.5037965774536133,
        -1.4435946941375732,
        -0.7688966989517212,
        0.9965965151786804,
        0.7126978039741516,
        -0.15472090244293213,
        0.12165115028619766,
        0.3371373116970062,
        -0.9264475107192993,
        -0.16743344068527222,
        -0.9401603937149048,
        -0.34063249826431274,
        -0.00827181339263916
      ],
      "bottle_position_world": [
        0.16120794415473938,
        -0.1177426129579544,
        0.8377124071121216
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        3.183523949701339e-05,
        -7.242782157845795e-05,
        0.0377398282289505
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.6,
      "clearance_m": -0.0002588629722595215,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617850959300995,
      "action": [
        0.0088827358558774,
        -0.008387924171984196,
        -0.0028887607622891665,
        -0.007614400237798691,
        -0.011925899423658848,
        0.01990390755236149,
        0.9998301267623901
      ],
      "proprioception": [
        -3.5551323890686035,
        -0.9137600064277649,
        0.9575082063674927,
        -1.503983736038208,
        -1.4436495304107666,
        -0.7691441178321838,
        0.9965968132019043,
        0.7127298712730408,
        -0.15475180745124817,
        0.12164023518562317,
        0.33739376068115234,
        -0.9263790845870972,
        -0.16729426383972168,
        -0.9400738477706909,
        -0.340868204832077,
        -0.00837976299226284
      ],
      "bottle_position_world": [
        0.16121768951416016,
        -0.1177329570055008,
        0.8377138376235962
      ],
      "bottle_quaternion_world": [
        0.9992877244949341,
        -6.325034337351099e-05,
        3.1764146115165204e-05,
        0.037737734615802765
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.6500000000000004,
      "clearance_m": -0.0002599358558654785,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178461909294128,
      "action": [
        0.008634740486741066,
        -0.008140730671584606,
        -0.0025255775544792414,
        -0.0077198646031320095,
        -0.01135597750544548,
        0.017808804288506508,
        0.9998306035995483
      ],
      "proprioception": [
        -3.5551323890686035,
        -0.9137573838233948,
        0.9575462937355042,
        -1.5041682720184326,
        -1.4437062740325928,
        -0.7693666815757751,
        0.9965971112251282,
        0.7127611637115479,
        -0.1547827422618866,
        0.12163059413433075,
        0.33762702345848083,
        -0.9263195991516113,
        -0.16715431213378906,
        -0.9399958252906799,
        -0.3410812318325043,
        -0.008482025936245918
      ],
      "bottle_position_world": [
        0.16120974719524384,
        -0.11773484200239182,
        0.8377127051353455
      ],
      "bottle_quaternion_world": [
        0.9992877244949341,
        -4.682309372583404e-05,
        -5.052745109423995e-05,
        0.03773581609129906
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.7,
      "clearance_m": -0.00025022029876708984,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177283227443695,
      "action": [
        0.008335367776453495,
        -0.007627126760780811,
        -0.002243082970380783,
        -0.008003870025277138,
        -0.010930840857326984,
        0.015931613743305206,
        0.99983149766922
      ],
      "proprioception": [
        -3.5551300048828125,
        -0.9137584567070007,
        0.9575858116149902,
        -1.5043432712554932,
        -1.4437627792358398,
        -0.7695532441139221,
        0.9965972900390625,
        0.7127898931503296,
        -0.1548105776309967,
        0.12162242084741592,
        0.33782759308815,
        -0.9262707233428955,
        -0.16701959073543549,
        -0.9399290680885315,
        -0.341263085603714,
        -0.008573386818170547
      ],
      "bottle_position_world": [
        0.1612151861190796,
        -0.117740698158741,
        0.8377238512039185
      ],
      "bottle_quaternion_world": [
        0.9992878437042236,
        1.54220742842881e-05,
        3.855113845929736e-06,
        0.037734583020210266
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.75,
      "clearance_m": -0.00024819374084472656,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617702841758728,
      "action": [
        0.007867412641644478,
        -0.007468684576451778,
        -0.001974043669179082,
        -0.008303810842335224,
        -0.010652399621903896,
        0.013809621334075928,
        0.9998320937156677
      ],
      "proprioception": [
        -3.555126905441284,
        -0.9137662649154663,
        0.957635223865509,
        -1.5045260190963745,
        -1.4438220262527466,
        -0.7697157859802246,
        0.9965977668762207,
        0.7128176689147949,
        -0.15483830869197845,
        0.12161505222320557,
        0.3380069434642792,
        -0.9262305498123169,
        -0.16687998175621033,
        -0.9398699402809143,
        -0.3414236307144165,
        -0.008661948144435883
      ],
      "bottle_position_world": [
        0.16122391819953918,
        -0.11774906516075134,
        0.8377245664596558
      ],
      "bottle_quaternion_world": [
        0.9992878437042236,
        0.00010485736129339784,
        9.019488788908347e-05,
        0.03773527964949608
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.8000000000000003,
      "clearance_m": -0.0002536177635192871,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177718341350555,
      "action": [
        0.007409317884594202,
        -0.007302843499928713,
        -0.0017574857920408249,
        -0.008691160939633846,
        -0.010120128281414509,
        0.011888673529028893,
        0.9998327493667603
      ],
      "proprioception": [
        -3.5551211833953857,
        -0.9137780070304871,
        0.9576890468597412,
        -1.5047110319137573,
        -1.4438865184783936,
        -0.7698538899421692,
        0.9965975284576416,
        0.7128443717956543,
        -0.15486520528793335,
        0.12160854786634445,
        0.33816614747047424,
        -0.9261982440948486,
        -0.16673561930656433,
        -0.9398177266120911,
        -0.3415646553039551,
        -0.008744096383452415
      ],
      "bottle_position_world": [
        0.1612110584974289,
        -0.11773882806301117,
        0.8377193808555603
      ],
      "bottle_quaternion_world": [
        0.9992878437042236,
        -4.717118372354889e-06,
        -3.775383083848283e-05,
        0.03773478791117668
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.85,
      "clearance_m": -0.00024634599685668945,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177107393741608,
      "action": [
        0.007417334243655205,
        -0.006730607710778713,
        -0.0015292007010430098,
        -0.008743184618651867,
        -0.009742063470184803,
        0.010524196550250053,
        0.9998335838317871
      ],
      "proprioception": [
        -3.5551114082336426,
        -0.9137900471687317,
        0.9577407836914062,
        -1.5048941373825073,
        -1.443952202796936,
        -0.7699733972549438,
        0.9965976476669312,
        0.7128716111183167,
        -0.1548895239830017,
        0.12160280346870422,
        0.3383117616176605,
        -0.9261713027954102,
        -0.1665903925895691,
        -0.9397706985473633,
        -0.34169241786003113,
        -0.008822709321975708
      ],
      "bottle_position_world": [
        0.16122668981552124,
        -0.11774354428052902,
        0.8377260565757751
      ],
      "bottle_quaternion_world": [
        0.9992878437042236,
        4.973398972651921e-05,
        0.00012020311260130256,
        0.03773469105362892
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.9000000000000004,
      "clearance_m": -0.0002492070198059082,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177323460578918,
      "action": [
        0.006920897867530584,
        -0.006746737286448479,
        -0.0013182155089452863,
        -0.008915040642023087,
        -0.009277993813157082,
        0.008780268020927906,
        0.9998339414596558
      ],
      "proprioception": [
        -3.5551023483276367,
        -0.9138049483299255,
        0.957793653011322,
        -1.5050675868988037,
        -1.444016695022583,
        -0.770066499710083,
        0.9965978860855103,
        0.7128959894180298,
        -0.15491263568401337,
        0.12159819900989532,
        0.3384305536746979,
        -0.926152765750885,
        -0.16645145416259766,
        -0.9397326707839966,
        -0.34179478883743286,
        -0.008891966193914413
      ],
      "bottle_position_world": [
        0.16121679544448853,
        -0.117740198969841,
        0.8377237915992737
      ],
      "bottle_quaternion_world": [
        0.9992878437042236,
        1.1584371350181755e-05,
        1.9891460397047922e-05,
        0.037735313177108765
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 3.95,
      "clearance_m": -0.00024837255477905273,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177211701869965,
      "action": [
        0.006821258459240198,
        -0.006305048707872629,
        -0.0011625881306827068,
        -0.008949765004217625,
        -0.008975853212177753,
        0.007477486040443182,
        0.9998345971107483
      ],
      "proprioception": [
        -3.555091381072998,
        -0.9138213992118835,
        0.9578477740287781,
        -1.5052422285079956,
        -1.444082260131836,
        -0.7701429128646851,
        0.9965982437133789,
        0.7129204869270325,
        -0.15493468940258026,
        0.12159419059753418,
        0.33853569626808167,
        -0.9261397123336792,
        -0.16631090641021729,
        -0.9396997690200806,
        -0.3418836295604706,
        -0.008958721533417702
      ],
      "bottle_position_world": [
        0.16121219098567963,
        -0.11774291098117828,
        0.837723433971405
      ],
      "bottle_quaternion_world": [
        0.9992877244949341,
        3.790710252360441e-05,
        -2.8291628041188233e-05,
        0.03773606941103935
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.0,
      "clearance_m": -0.0002586841583251953,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617848128080368,
      "action": [
        0.006551648955792189,
        -0.005999809596687555,
        -0.0010509934509173036,
        -0.009050690568983555,
        -0.008647249080240726,
        0.006303479429334402,
        0.9998351335525513
      ],
      "proprioception": [
        -3.555079460144043,
        -0.9138407111167908,
        0.9579055905342102,
        -1.5054186582565308,
        -1.4441498517990112,
        -0.7702038884162903,
        0.9965984225273132,
        0.7129442691802979,
        -0.15495634078979492,
        0.12159046530723572,
        0.3386274576187134,
        -0.9261319041252136,
        -0.1661684215068817,
        -0.9396718144416809,
        -0.3419593572616577,
        -0.00902225635945797
      ],
      "bottle_position_world": [
        0.1612125039100647,
        -0.11773239076137543,
        0.8377137184143066
      ],
      "bottle_quaternion_world": [
        0.9992877244949341,
        -6.986196240177378e-05,
        -2.126824801962357e-05,
        0.037737905979156494
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.05,
      "clearance_m": -0.0002593398094177246,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178260743618011,
      "action": [
        0.006512713618576527,
        -0.005694003775715828,
        -0.0009763982961885631,
        -0.008847007527947426,
        -0.008138886652886868,
        0.005407980177551508,
        0.9998356103897095
      ],
      "proprioception": [
        -3.5550663471221924,
        -0.9138572812080383,
        0.9579576849937439,
        -1.5055887699127197,
        -1.4442172050476074,
        -0.7702533602714539,
        0.996598482131958,
        0.712968111038208,
        -0.15497712790966034,
        0.12158681452274323,
        0.3387087881565094,
        -0.926127016544342,
        -0.16602863371372223,
        -0.9396471381187439,
        -0.34202536940574646,
        -0.009081456810235977
      ],
      "bottle_position_world": [
        0.16121070086956024,
        -0.11773862689733505,
        0.8377135992050171
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        -6.314607617241563e-06,
        -4.204819560982287e-05,
        0.037739962339401245
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.1000000000000005,
      "clearance_m": -0.00025093555450439453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177621483802795,
      "action": [
        0.006148037500679493,
        -0.005437771324068308,
        -0.0008756069000810385,
        -0.00889190100133419,
        -0.007758216001093388,
        0.004388854373246431,
        0.9998361468315125
      ],
      "proprioception": [
        -3.5550544261932373,
        -0.9138749837875366,
        0.9580097198486328,
        -1.5057487487792969,
        -1.444282054901123,
        -0.7702873945236206,
        0.9965987801551819,
        0.7129894495010376,
        -0.15499688684940338,
        0.12158381938934326,
        0.33877304196357727,
        -0.9261270761489868,
        -0.16589657962322235,
        -0.9396280646324158,
        -0.3420755863189697,
        -0.009133391082286835
      ],
      "bottle_position_world": [
        0.1612199991941452,
        -0.11773918569087982,
        0.8377213478088379
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        3.092596898568445e-06,
        5.2796305681113154e-05,
        0.037740591913461685
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.15,
      "clearance_m": -0.0002562403678894043,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177356243133545,
      "action": [
        0.00584372179582715,
        -0.005403030198067427,
        -0.0007056890754029155,
        -0.0088901212438941,
        -0.007470014505088329,
        0.003131214529275894,
        0.9998363256454468
      ],
      "proprioception": [
        -3.5550425052642822,
        -0.9138954281806946,
        0.9580645561218262,
        -1.5059101581573486,
        -1.4443480968475342,
        -0.7703067064285278,
        0.996598482131958,
        0.7130102515220642,
        -0.1550167202949524,
        0.12158169597387314,
        0.3388238847255707,
        -0.9261325597763062,
        -0.16576287150382996,
        -0.9396142959594727,
        -0.3421125113964081,
        -0.009183280169963837
      ],
      "bottle_position_world": [
        0.16121195256710052,
        -0.11774105578660965,
        0.8377225399017334
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        1.90877981367521e-05,
        -2.9426733817672357e-05,
        0.037739578634500504
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.2,
      "clearance_m": -0.000244140625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177061200141907,
      "action": [
        0.005671171937137842,
        -0.005022598896175623,
        -0.0005741416825912893,
        -0.008950592018663883,
        -0.00725917425006628,
        0.002143661957234144,
        0.9998368620872498
      ],
      "proprioception": [
        -3.5550272464752197,
        -0.9139187932014465,
        0.958122730255127,
        -1.5060739517211914,
        -1.44441556930542,
        -0.7703118920326233,
        0.9965988397598267,
        0.7130308747291565,
        -0.1550343781709671,
        0.12157983332872391,
        0.3388647735118866,
        -0.9261420369148254,
        -0.16562719643115997,
        -0.9396041035652161,
        -0.3421396315097809,
        -0.009230803698301315
      ],
      "bottle_position_world": [
        0.1612241566181183,
        -0.11773770302534103,
        0.8377283811569214
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        -1.0392736840003636e-05,
        9.673032036516815e-05,
        0.0377393439412117
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.25,
      "clearance_m": -0.0002503395080566406,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177423298358917,
      "action": [
        0.005427843891084194,
        -0.005025892052799463,
        -0.0004305094189476222,
        -0.008873440325260162,
        -0.006949394941329956,
        0.0009939806768670678,
        0.9998370409011841
      ],
      "proprioception": [
        -3.5550127029418945,
        -0.9139434099197388,
        0.958181619644165,
        -1.5062364339828491,
        -1.4444831609725952,
        -0.7703032493591309,
        0.9965988397598267,
        0.7130509614944458,
        -0.15505243837833405,
        0.12157860398292542,
        0.3388917148113251,
        -0.9261563420295715,
        -0.16549208760261536,
        -0.9395987391471863,
        -0.34215304255485535,
        -0.009275676682591438
      ],
      "bottle_position_world": [
        0.16121675074100494,
        -0.1177426278591156,
        0.8377218246459961
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        3.7820867873961106e-05,
        1.9114590031676926e-05,
        0.037740062922239304
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.3,
      "clearance_m": -0.00026363134384155273,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617731899023056,
      "action": [
        0.005219888873398304,
        -0.004680536221712828,
        -0.00041620430420152843,
        -0.008904834277927876,
        -0.006587938871234655,
        0.0002594729885458946,
        0.9998375773429871
      ],
      "proprioception": [
        -3.5549979209899902,
        -0.9139673709869385,
        0.9582382440567017,
        -1.5063886642456055,
        -1.4445483684539795,
        -0.7702846527099609,
        0.9965993762016296,
        0.7130693197250366,
        -0.15506863594055176,
        0.12157741189002991,
        0.33890849351882935,
        -0.9261727929115295,
        -0.1653643548488617,
        -0.9395965337753296,
        -0.3421574831008911,
        -0.009314384311437607
      ],
      "bottle_position_world": [
        0.16121241450309753,
        -0.117753766477108,
        0.8377183675765991
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        0.0001496623590355739,
        -2.944136576843448e-05,
        0.03773873299360275
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.3500000000000005,
      "clearance_m": -0.0002620220184326172,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177749633789062,
      "action": [
        0.004859856329858303,
        -0.004522102884948254,
        -0.00045241412590257823,
        -0.009038830175995827,
        -0.006236345507204533,
        -0.0003240564838051796,
        0.99983811378479
      ],
      "proprioception": [
        -3.5549814701080322,
        -0.9139935374259949,
        0.9582983255386353,
        -1.5065423250198364,
        -1.4446173906326294,
        -0.7702568769454956,
        0.9965991377830505,
        0.713086724281311,
        -0.15508434176445007,
        0.12157607823610306,
        0.33891817927360535,
        -0.9261924624443054,
        -0.16523408889770508,
        -0.9395970106124878,
        -0.3421553671360016,
        -0.009349161759018898
      ],
      "bottle_position_world": [
        0.1612136960029602,
        -0.11773795634508133,
        0.8377196788787842
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        -1.0914068298006896e-05,
        -1.0428590940136928e-05,
        0.03773874416947365
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.4,
      "clearance_m": -0.00025397539138793945,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177837550640106,
      "action": [
        0.004936446435749531,
        -0.004297926556318998,
        -0.00029633939266204834,
        -0.008695325814187527,
        -0.005984287243336439,
        -0.0009341693366877735,
        0.9998382329940796
      ],
      "proprioception": [
        -3.554964780807495,
        -0.9140176177024841,
        0.9583536982536316,
        -1.506691575050354,
        -1.4446836709976196,
        -0.7702215313911438,
        0.996599018573761,
        0.713104784488678,
        -0.1550993025302887,
        0.12157536298036575,
        0.338920533657074,
        -0.926214337348938,
        -0.1651069074869156,
        -0.9396000504493713,
        -0.342146098613739,
        -0.009382834658026695
      ],
      "bottle_position_world": [
        0.1612238585948944,
        -0.11774145811796188,
        0.837718665599823
      ],
      "bottle_quaternion_world": [
        0.9992877244949341,
        2.8295204174355604e-05,
        9.231915464624763e-05,
        0.0377381294965744
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.45,
      "clearance_m": -0.00025272369384765625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177919507026672,
      "action": [
        0.004635435063391924,
        -0.00427970290184021,
        -0.0002748072147369385,
        -0.008567527867853642,
        -0.005604141391813755,
        -0.0016836069989949465,
        0.9998383522033691
      ],
      "proprioception": [
        -3.554948329925537,
        -0.9140418767929077,
        0.9584084153175354,
        -1.5068374872207642,
        -1.4447509050369263,
        -0.7701767683029175,
        0.9965993762016296,
        0.7131218314170837,
        -0.1551145613193512,
        0.12157479673624039,
        0.3389133810997009,
        -0.9262394309043884,
        -0.16498111188411713,
        -0.9396065473556519,
        -0.34212779998779297,
        -0.00941275805234909
      ],
      "bottle_position_world": [
        0.16122300922870636,
        -0.11773549020290375,
        0.8377198576927185
      ],
      "bottle_quaternion_world": [
        0.9992877244949341,
        -3.347361052874476e-05,
        8.65134788909927e-05,
        0.03773825988173485
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.5,
      "clearance_m": -0.0002511143684387207,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617741733789444,
      "action": [
        0.004569454118609428,
        -0.004037973005324602,
        -0.0001700073480606079,
        -0.008348898962140083,
        -0.005369425285607576,
        -0.0023412820883095264,
        0.9998385906219482
      ],
      "proprioception": [
        -3.5549333095550537,
        -0.914064347743988,
        0.9584589004516602,
        -1.5069726705551147,
        -1.4448124170303345,
        -0.7701264023780823,
        0.9965991973876953,
        0.7131378650665283,
        -0.15512844920158386,
        0.1215742751955986,
        0.33889827132225037,
        -0.9262655973434448,
        -0.16486486792564392,
        -0.9396154284477234,
        -0.3421024978160858,
        -0.009439876303076744
      ],
      "bottle_position_world": [
        0.16120854020118713,
        -0.11774159222841263,
        0.8377212882041931
      ],
      "bottle_quaternion_world": [
        0.9992877244949341,
        2.396094350842759e-05,
        -6.538230809383094e-05,
        0.03773825988173485
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.55,
      "clearance_m": -0.00025731325149536133,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177979111671448,
      "action": [
        0.004392342176288366,
        -0.00370530947111547,
        -0.0001608431339263916,
        -0.008357704617083073,
        -0.005319805815815926,
        -0.0027482896111905575,
        0.9998390674591064
      ],
      "proprioception": [
        -3.5549166202545166,
        -0.914090096950531,
        0.9585146307945251,
        -1.5071125030517578,
        -1.4448750019073486,
        -0.7700687646865845,
        0.9965988397598267,
        0.7131536602973938,
        -0.15514132380485535,
        0.12157411128282547,
        0.3388783931732178,
        -0.9262941479682922,
        -0.16474607586860657,
        -0.9396262764930725,
        -0.34207218885421753,
        -0.009466614574193954
      ],
      "bottle_position_world": [
        0.16122177243232727,
        -0.11774590611457825,
        0.8377152681350708
      ],
      "bottle_quaternion_world": [
        0.9992877244949341,
        7.315102993743494e-05,
        6.890297663630918e-05,
        0.037738848477602005
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.6000000000000005,
      "clearance_m": -0.0002421736717224121,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617664247751236,
      "action": [
        0.004083491396158934,
        -0.003790766466408968,
        -0.0002276599407196045,
        -0.008265651762485504,
        -0.004836186300963163,
        -0.0032048572320491076,
        0.999839186668396
      ],
      "proprioception": [
        -3.5549001693725586,
        -0.9141150116920471,
        0.9585686326026917,
        -1.5072475671768188,
        -1.4449392557144165,
        -0.7700049877166748,
        0.996599018573761,
        0.7131685018539429,
        -0.1551545113325119,
        0.1215735673904419,
        0.3388518989086151,
        -0.9263246655464172,
        -0.16462886333465576,
        -0.939639151096344,
        -0.34203603863716125,
        -0.009488672018051147
      ],
      "bottle_position_world": [
        0.1612149178981781,
        -0.11774112284183502,
        0.8377305269241333
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        2.1771700630779378e-05,
        7.635956080775941e-07,
        0.037739966064691544
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.65,
      "clearance_m": -0.00022172927856445312,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16174641251564026,
      "action": [
        0.004015990532934666,
        -0.0035114330239593983,
        2.110004425048828e-05,
        -0.008125552907586098,
        -0.00491072004660964,
        -0.003908302169293165,
        0.9998393058776855
      ],
      "proprioception": [
        -3.5548834800720215,
        -0.9141431450843811,
        0.9586266279220581,
        -1.5073862075805664,
        -1.445001482963562,
        -0.7699314951896667,
        0.9965994954109192,
        0.7131834030151367,
        -0.1551668345928192,
        0.1215740442276001,
        0.33881691098213196,
        -0.9263585209846497,
        -0.16451126337051392,
        -0.9396554231643677,
        -0.34199097752571106,
        -0.009512698277831078
      ],
      "bottle_position_world": [
        0.16121125221252441,
        -0.11774295568466187,
        0.8377508521080017
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        3.888294304488227e-05,
        -3.721963003044948e-05,
        0.037740010768175125
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.7,
      "clearance_m": -0.00022333860397338867,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16174882650375366,
      "action": [
        0.003843914484605193,
        -0.0033541531302034855,
        0.00022511184215545654,
        -0.008126528933644295,
        -0.005166417453438044,
        -0.004827209282666445,
        0.9998393058776855
      ],
      "proprioception": [
        -3.554868459701538,
        -0.9141755104064941,
        0.9586907625198364,
        -1.5075253248214722,
        -1.4450584650039673,
        -0.7698512673377991,
        0.9965993762016296,
        0.713196873664856,
        -0.15517836809158325,
        0.1215747818350792,
        0.33877331018447876,
        -0.9263942241668701,
        -0.16439856588840485,
        -0.9396745562553406,
        -0.34193724393844604,
        -0.009537763893604279
      ],
      "bottle_position_world": [
        0.16121697425842285,
        -0.11774101108312607,
        0.8377496600151062
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        2.111815229000058e-05,
        2.1952137103653513e-05,
        0.03773997351527214
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.75,
      "clearance_m": -0.00022810697555541992,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16175393760204315,
      "action": [
        0.003782582236453891,
        -0.0033564032055437565,
        0.00018452107906341553,
        -0.008012929931282997,
        -0.004975806921720505,
        -0.005362117663025856,
        0.9998393058776855
      ],
      "proprioception": [
        -3.5548534393310547,
        -0.9142080545425415,
        0.9587545990943909,
        -1.5076645612716675,
        -1.445115566253662,
        -0.769763171672821,
        0.9965993762016296,
        0.71321040391922,
        -0.15518994629383087,
        0.12157582491636276,
        0.3387226164340973,
        -0.9264328479766846,
        -0.1642850637435913,
        -0.9396965503692627,
        -0.34187638759613037,
        -0.00956224650144577
      ],
      "bottle_position_world": [
        0.16121210157871246,
        -0.11773975193500519,
        0.8377440571784973
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        6.503993063233793e-06,
        -2.7887117539648898e-05,
        0.03774065896868706
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.800000000000001,
      "clearance_m": -0.00024008750915527344,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176405549049377,
      "action": [
        0.0037330067716538906,
        -0.003127031959593296,
        0.00013343989849090576,
        -0.007834402844309807,
        -0.004709320608526468,
        -0.005597041919827461,
        0.9998396039009094
      ],
      "proprioception": [
        -3.554837465286255,
        -0.914239227771759,
        0.958816647529602,
        -1.50780189037323,
        -1.4451725482940674,
        -0.7696701884269714,
        0.9965994358062744,
        0.7132242918014526,
        -0.15520086884498596,
        0.12157682329416275,
        0.33866816759109497,
        -0.9264726042747498,
        -0.16417273879051208,
        -0.9397197365760803,
        -0.3418121337890625,
        -0.009584901854395866
      ],
      "bottle_position_world": [
        0.16120955348014832,
        -0.11774057894945145,
        0.8377326130867004
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        1.405852526659146e-05,
        -5.3953826864017174e-05,
        0.03774077072739601
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.8500000000000005,
      "clearance_m": -0.00024306774139404297,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177049279212952,
      "action": [
        0.0036087327171117067,
        -0.002945567248389125,
        1.430511474609375e-05,
        -0.0076195779256522655,
        -0.004291828256100416,
        -0.005590664688497782,
        0.9998399019241333
      ],
      "proprioception": [
        -3.5548207759857178,
        -0.9142676591873169,
        0.9588742256164551,
        -1.5079327821731567,
        -1.4452298879623413,
        -0.7695754766464233,
        0.9965994954109192,
        0.7132375836372375,
        -0.15521100163459778,
        0.12157721817493439,
        0.3386116623878479,
        -0.9265125393867493,
        -0.16406404972076416,
        -0.939743161201477,
        -0.3417465388774872,
        -0.009603496640920639
      ],
      "bottle_position_world": [
        0.16121742129325867,
        -0.11773259937763214,
        0.8377295732498169
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        -6.47821361781098e-05,
        3.06122237816453e-05,
        0.03774123266339302
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.9,
      "clearance_m": -0.0002563595771789551,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178305447101593,
      "action": [
        0.003539130324497819,
        -0.0029099092353135347,
        3.120303153991699e-05,
        -0.007229010574519634,
        -0.003920259419828653,
        -0.005769115407019854,
        0.9998399019241333
      ],
      "proprioception": [
        -3.554806709289551,
        -0.914291262626648,
        0.9589228630065918,
        -1.5080487728118896,
        -1.4452818632125854,
        -0.7694843411445618,
        0.9965994358062744,
        0.7132501602172852,
        -0.15522122383117676,
        0.12157770991325378,
        0.338554710149765,
        -0.9265507459640503,
        -0.16396598517894745,
        -0.9397668242454529,
        -0.34168148040771484,
        -0.009618835523724556
      ],
      "bottle_position_world": [
        0.16122008860111237,
        -0.1177326962351799,
        0.8377164006233215
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        -6.290094461292028e-05,
        5.7838085922412574e-05,
        0.037740834057331085
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 4.95,
      "clearance_m": -0.00026404857635498047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617799997329712,
      "action": [
        0.003421650966629386,
        -0.0028137601912021637,
        -9.112060070037842e-05,
        -0.006967076100409031,
        -0.003445782931521535,
        -0.005707635078579187,
        0.9998401403427124
      ],
      "proprioception": [
        -3.5547916889190674,
        -0.9143111705780029,
        0.9589653015136719,
        -1.5081572532653809,
        -1.4453341960906982,
        -0.7693923115730286,
        0.9965994358062744,
        0.7132624387741089,
        -0.15523099899291992,
        0.12157759815454483,
        0.33849647641181946,
        -0.9265887141227722,
        -0.16387107968330383,
        -0.9397903084754944,
        -0.34161612391471863,
        -0.009629813954234123
      ],
      "bottle_position_world": [
        0.16121962666511536,
        -0.11774607747793198,
        0.8377147316932678
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        7.462914800271392e-05,
        4.810391692444682e-05,
        0.03774259611964226
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.0,
      "clearance_m": -0.00026041269302368164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178198158740997,
      "action": [
        0.0030219759792089462,
        -0.002718937350437045,
        -0.00012160837650299072,
        -0.006987780332565308,
        -0.0031341733410954475,
        -0.005833456292748451,
        0.999840497970581
      ],
      "proprioception": [
        -3.554776191711426,
        -0.9143327474594116,
        0.9590107202529907,
        -1.5082652568817139,
        -1.445388913154602,
        -0.7692968249320984,
        0.9965994358062744,
        0.7132735848426819,
        -0.15524034202098846,
        0.12157728523015976,
        0.33843573927879333,
        -0.9266278743743896,
        -0.16377590596675873,
        -0.9398149847984314,
        -0.3415486812591553,
        -0.009637748822569847
      ],
      "bottle_position_world": [
        0.16121910512447357,
        -0.11774710565805435,
        0.8377121686935425
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        8.51213771966286e-05,
        4.234017978888005e-05,
        0.037744760513305664
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.050000000000001,
      "clearance_m": -0.0002611875534057617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178342700004578,
      "action": [
        0.002864889334887266,
        -0.0025878676678985357,
        -9.797513484954834e-05,
        -0.00686662457883358,
        -0.0028715874068439007,
        -0.005921220872551203,
        0.9998406767845154
      ],
      "proprioception": [
        -3.554760217666626,
        -0.9143537878990173,
        0.9590546488761902,
        -1.5083696842193604,
        -1.4454444646835327,
        -0.7691987156867981,
        0.9965993762016296,
        0.7132843136787415,
        -0.15524937212467194,
        0.12157708406448364,
        0.33837252855300903,
        -0.9266675114631653,
        -0.16368190944194794,
        -0.9398400783538818,
        -0.34147921204566956,
        -0.009642509743571281
      ],
      "bottle_position_world": [
        0.16121874749660492,
        -0.1177450492978096,
        0.8377113342285156
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        6.376916280714795e-05,
        3.930928505724296e-05,
        0.037747059017419815
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.1000000000000005,
      "clearance_m": -0.00025969743728637695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177472472190857,
      "action": [
        0.002773262793198228,
        -0.0024558294098824263,
        -7.434189319610596e-05,
        -0.006655499804764986,
        -0.0026906589046120644,
        -0.0060278200544416904,
        0.9998407959938049
      ],
      "proprioception": [
        -3.554745674133301,
        -0.9143725037574768,
        0.9590941667556763,
        -1.5084649324417114,
        -1.4454957246780396,
        -0.7691043019294739,
        0.9965991973876953,
        0.7132941484451294,
        -0.15525789558887482,
        0.12157685309648514,
        0.3383101522922516,
        -0.926705539226532,
        -0.1635957509279251,
        -0.9398647546768188,
        -0.341411292552948,
        -0.009645722806453705
      ],
      "bottle_position_world": [
        0.16121698915958405,
        -0.11774517595767975,
        0.8377203941345215
      ],
      "bottle_quaternion_world": [
        0.9992872476577759,
        6.455099355662242e-05,
        2.1224543161224574e-05,
        0.037748757749795914
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.15,
      "clearance_m": -0.0002542734146118164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617811769247055,
      "action": [
        0.0026589122135192156,
        -0.002369611756876111,
        1.7121434211730957e-05,
        -0.006538985297083855,
        -0.002736107213422656,
        -0.0062888190150260925,
        0.9998407363891602
      ],
      "proprioception": [
        -3.5547311305999756,
        -0.9143937230110168,
        0.9591370224952698,
        -1.5085628032684326,
        -1.4455461502075195,
        -0.7690055966377258,
        0.9965993762016296,
        0.7133036255836487,
        -0.1552661508321762,
        0.12157709896564484,
        0.33824387192726135,
        -0.9267450571060181,
        -0.1635088324546814,
        -0.9398908019065857,
        -0.34133920073509216,
        -0.009650086984038353
      ],
      "bottle_position_world": [
        0.16121235489845276,
        -0.11773013323545456,
        0.8377184271812439
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        -9.167598182102665e-05,
        -2.0762843632837757e-05,
        0.03774784505367279
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.2,
      "clearance_m": -0.0002288818359375,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617554873228073,
      "action": [
        0.0028779427520930767,
        -0.002125002909451723,
        3.5136938095092773e-05,
        -0.0060990313068032265,
        -0.0027150071691721678,
        -0.0063019017688930035,
        0.9998407363891602
      ],
      "proprioception": [
        -3.5547168254852295,
        -0.9144126176834106,
        0.9591754078865051,
        -1.5086575746536255,
        -1.4455925226211548,
        -0.7689060568809509,
        0.9965993165969849,
        0.7133142352104187,
        -0.15527351200580597,
        0.1215774416923523,
        0.3381764888763428,
        -0.9267842769622803,
        -0.16342562437057495,
        -0.9399174451828003,
        -0.34126585721969604,
        -0.00965656153857708
      ],
      "bottle_position_world": [
        0.16121429204940796,
        -0.1177360862493515,
        0.8377439975738525
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        -3.0259689083322883e-05,
        -3.3742414871085202e-06,
        0.03774690255522728
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.25,
      "clearance_m": -0.00023561716079711914,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176067292690277,
      "action": [
        0.0026037932839244604,
        -0.0021390547044575214,
        0.00022746622562408447,
        -0.006056564394384623,
        -0.0030531713273376226,
        -0.00698267575353384,
        0.9998405575752258
      ],
      "proprioception": [
        -3.5547049045562744,
        -0.9144385457038879,
        0.9592252969741821,
        -1.5087618827819824,
        -1.4456366300582886,
        -0.7687984704971313,
        0.9965993762016296,
        0.7133236527442932,
        -0.1552816778421402,
        0.1215784028172493,
        0.3380999267101288,
        -0.9268271923065186,
        -0.16334080696105957,
        -0.9399476051330566,
        -0.3411824703216553,
        -0.009666815400123596
      ],
      "bottle_position_world": [
        0.16121472418308258,
        -0.11773881316184998,
        0.837737500667572
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        -1.97213421415654e-06,
        1.6722357543130784e-07,
        0.03774693235754967
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.300000000000001,
      "clearance_m": -0.00024074316024780273,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617659628391266,
      "action": [
        0.0025339520070701838,
        -0.0020363787189126015,
        0.00012861192226409912,
        -0.005970699712634087,
        -0.002873226534575224,
        -0.0071477429009974,
        0.9998406171798706
      ],
      "proprioception": [
        -3.5546929836273193,
        -0.9144625067710876,
        0.9592722654342651,
        -1.508859395980835,
        -1.4456779956817627,
        -0.7686935663223267,
        0.9965991973876953,
        0.7133325338363647,
        -0.1552889347076416,
        0.1215793564915657,
        0.33802494406700134,
        -0.9268685579299927,
        -0.1632615327835083,
        -0.9399769902229309,
        -0.3411012291908264,
        -0.009675281122326851
      ],
      "bottle_position_world": [
        0.16121192276477814,
        -0.11773952096700668,
        0.8377312421798706
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        4.1030380089068785e-06,
        -2.8758260668837465e-05,
        0.037746477872133255
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.3500000000000005,
      "clearance_m": -0.00023686885833740234,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176043450832367,
      "action": [
        0.0024678357876837254,
        -0.0019475979497656226,
        3.0025839805603027e-05,
        -0.005844587925821543,
        -0.0026294454000890255,
        -0.00702755618840456,
        0.9998408555984497
      ],
      "proprioception": [
        -3.5546810626983643,
        -0.9144851565361023,
        0.9593166708946228,
        -1.5089539289474487,
        -1.4457203149795532,
        -0.7685880661010742,
        0.9965996146202087,
        0.7133413553237915,
        -0.15529632568359375,
        0.12157976627349854,
        0.3379489481449127,
        -0.9269099831581116,
        -0.16318291425704956,
        -0.9400065541267395,
        -0.3410194516181946,
        -0.009681791067123413
      ],
      "bottle_position_world": [
        0.16121350228786469,
        -0.11774367094039917,
        0.8377358317375183
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        4.714545502793044e-05,
        -1.3735297216044273e-05,
        0.037746842950582504
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.4,
      "clearance_m": -0.0002269744873046875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16175030171871185,
      "action": [
        0.002271603560075164,
        -0.0019077076576650143,
        6.283819675445557e-05,
        -0.005761703010648489,
        -0.00251780659891665,
        -0.007155401632189751,
        0.9998408555984497
      ],
      "proprioception": [
        -3.554669141769409,
        -0.9145088195800781,
        0.9593628644943237,
        -1.509048581123352,
        -1.4457628726959229,
        -0.7684797048568726,
        0.9965993165969849,
        0.713349461555481,
        -0.15530362725257874,
        0.12157998234033585,
        0.3378705382347107,
        -0.926952600479126,
        -0.1631045639514923,
        -0.9400373101234436,
        -0.34093528985977173,
        -0.00968700461089611
      ],
      "bottle_position_world": [
        0.16121551394462585,
        -0.1177479475736618,
        0.8377453684806824
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        9.214914462063462e-05,
        5.124511062604142e-06,
        0.037746720016002655
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.45,
      "clearance_m": -0.0002544522285461426,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178087890148163,
      "action": [
        0.002085205866023898,
        -0.0018771380418911576,
        0.0001608431339263916,
        -0.005741460714489222,
        -0.002526091644540429,
        -0.0074794841930270195,
        0.9998408555984497
      ],
      "proprioception": [
        -3.554657220840454,
        -0.9145355224609375,
        0.9594135284423828,
        -1.5091462135314941,
        -1.4458054304122925,
        -0.7683663964271545,
        0.9965993762016296,
        0.713357150554657,
        -0.15531055629253387,
        0.12158102542161942,
        0.33778735995292664,
        -0.9269967079162598,
        -0.16302545368671417,
        -0.9400694370269775,
        -0.3408462405204773,
        -0.009692786261439323
      ],
      "bottle_position_world": [
        0.1612197607755661,
        -0.11773471534252167,
        0.8377179503440857
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        -4.2515126551734284e-05,
        5.442663677968085e-05,
        0.03774654492735863
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.5,
      "clearance_m": -0.0002537369728088379,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178137063980103,
      "action": [
        0.002294953679665923,
        -0.0017534737708047032,
        -8.42362642288208e-05,
        -0.00525122694671154,
        -0.001925190445035696,
        -0.007017811294645071,
        0.9998409152030945
      ],
      "proprioception": [
        -3.554645299911499,
        -0.9145514965057373,
        0.9594466090202332,
        -1.5092236995697021,
        -1.4458439350128174,
        -0.7682637572288513,
        0.9965993165969849,
        0.7133652567863464,
        -0.15531642735004425,
        0.1215810775756836,
        0.3377123475074768,
        -0.9270360469818115,
        -0.16295787692070007,
        -0.9400981068611145,
        -0.3407668173313141,
        -0.009693458676338196
      ],
      "bottle_position_world": [
        0.16122733056545258,
        -0.11773267388343811,
        0.8377190828323364
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        -6.028455391060561e-05,
        0.00013255183876026422,
        0.03774629160761833
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.550000000000001,
      "clearance_m": -0.00025200843811035156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177445650100708,
      "action": [
        0.0021515008993446827,
        -0.0018168928800150752,
        -8.153915405273438e-05,
        -0.004945105407387018,
        -0.0016738682752475142,
        -0.006952487397938967,
        0.9998409152030945
      ],
      "proprioception": [
        -3.554633378982544,
        -0.9145653247833252,
        0.9594758749008179,
        -1.5092957019805908,
        -1.4458812475204468,
        -0.7681617140769958,
        0.9965994358062744,
        0.713373064994812,
        -0.15532204508781433,
        0.12158094346523285,
        0.33763694763183594,
        -0.9270744919776917,
        -0.16289392113685608,
        -0.9401267170906067,
        -0.3406875431537628,
        -0.0096921157091856
      ],
      "bottle_position_world": [
        0.16120651364326477,
        -0.11774156242609024,
        0.8377207517623901
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        2.279927139170468e-05,
        -8.425740088569e-05,
        0.037745989859104156
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.6000000000000005,
      "clearance_m": -0.0002474188804626465,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177305579185486,
      "action": [
        0.0020112963393330574,
        -0.001406925730407238,
        -7.02887773513794e-05,
        -0.004941425286233425,
        -0.0017737951129674911,
        -0.006743880920112133,
        0.9998413324356079
      ],
      "proprioception": [
        -3.554621934890747,
        -0.9145826101303101,
        0.9595111608505249,
        -1.5093718767166138,
        -1.4459186792373657,
        -0.7680594325065613,
        0.9965993165969849,
        0.7133803367614746,
        -0.15532757341861725,
        0.12158079445362091,
        0.3375614285469055,
        -0.9271136522293091,
        -0.16282860934734344,
        -0.9401558041572571,
        -0.3406078517436981,
        -0.009691992774605751
      ],
      "bottle_position_world": [
        0.161216601729393,
        -0.1177375540137291,
        0.8377249240875244
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        -1.4666689821751788e-05,
        2.1275847757351585e-05,
        0.03774615004658699
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.65,
      "clearance_m": -0.00024139881134033203,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176649928092957,
      "action": [
        0.0019224262796342373,
        -0.0015229831915348768,
        -4.750490188598633e-05,
        -0.004712600726634264,
        -0.0016883222851902246,
        -0.006816505920141935,
        0.9998410940170288
      ],
      "proprioception": [
        -3.554610252380371,
        -0.9145992398262024,
        0.9595447182655334,
        -1.5094459056854248,
        -1.4459543228149414,
        -0.7679564952850342,
        0.9965991973876953,
        0.7133876085281372,
        -0.15533235669136047,
        0.12158095836639404,
        0.33748525381088257,
        -0.9271523952484131,
        -0.1627655178308487,
        -0.9401847720146179,
        -0.3405275344848633,
        -0.009692296385765076
      ],
      "bottle_position_world": [
        0.16121388971805573,
        -0.1177368238568306,
        0.8377318978309631
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        -2.306576971022878e-05,
        -6.451069566537626e-06,
        0.037746381014585495
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.7,
      "clearance_m": -0.0002460479736328125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177064180374146,
      "action": [
        0.0018663533264771104,
        -0.0014103902503848076,
        2.5853514671325684e-05,
        -0.0045594871044158936,
        -0.0017616059631109238,
        -0.006962232291698456,
        0.9998410940170288
      ],
      "proprioception": [
        -3.5545997619628906,
        -0.9146164059638977,
        0.959578812122345,
        -1.5095171928405762,
        -1.445986270904541,
        -0.7678574323654175,
        0.9965993165969849,
        0.713394284248352,
        -0.15533681213855743,
        0.12158121913671494,
        0.33741092681884766,
        -0.9271898865699768,
        -0.16270683705806732,
        -0.9402132034301758,
        -0.34044915437698364,
        -0.009693605825304985
      ],
      "bottle_position_world": [
        0.16121220588684082,
        -0.11773811280727386,
        0.8377267718315125
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        -1.0393709999334533e-05,
        -2.4135304556693882e-05,
        0.037745751440525055
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.75,
      "clearance_m": -0.00022667646408081055,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617518663406372,
      "action": [
        0.0018134693382307887,
        -0.001352238585241139,
        -6.096065044403076e-05,
        -0.004450308624655008,
        -0.0016222507692873478,
        -0.0068165953271090984,
        0.9998411536216736
      ],
      "proprioception": [
        -3.554588556289673,
        -0.9146329760551453,
        0.9596121311187744,
        -1.5095871686935425,
        -1.4460182189941406,
        -0.7677582502365112,
        0.9965993762016296,
        0.7134009599685669,
        -0.155340775847435,
        0.1215810775756836,
        0.337336927652359,
        -0.9272268414497375,
        -0.16264864802360535,
        -0.9402413964271545,
        -0.3403712809085846,
        -0.00969405472278595
      ],
      "bottle_position_world": [
        0.16121569275856018,
        -0.11774148792028427,
        0.8377460837364197
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        2.5662753614597023e-05,
        1.0176861906074919e-05,
        0.03774619847536087
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.800000000000001,
      "clearance_m": -0.00023299455642700195,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16175970435142517,
      "action": [
        0.001604436431080103,
        -0.0014192936941981316,
        0.00011429190635681152,
        -0.004438313189893961,
        -0.0018179620383307338,
        -0.0072232577949762344,
        0.999841034412384
      ],
      "proprioception": [
        -3.554579257965088,
        -0.9146537184715271,
        0.9596519470214844,
        -1.5096627473831177,
        -1.446049451828003,
        -0.7676539421081543,
        0.9965991973876953,
        0.7134068608283997,
        -0.15534548461437225,
        0.12158173322677612,
        0.3372570872306824,
        -0.9272662401199341,
        -0.16258922219276428,
        -0.94027179479599,
        -0.34028705954551697,
        -0.009696703404188156
      ],
      "bottle_position_world": [
        0.16120906174182892,
        -0.11773673444986343,
        0.8377386331558228
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        -2.5660991013864987e-05,
        -5.5899512517498806e-05,
        0.0377456434071064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.8500000000000005,
      "clearance_m": -0.00025284290313720703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177695989608765,
      "action": [
        0.0017228109063580632,
        -0.0012129278620705009,
        4.41819429397583e-05,
        -0.004245697055011988,
        -0.0017370489658787847,
        -0.007081257179379463,
        0.9998410940170288
      ],
      "proprioception": [
        -3.5545690059661865,
        -0.9146730303764343,
        0.959689199924469,
        -1.509736180305481,
        -1.4460794925689697,
        -0.7675496339797974,
        0.9965990781784058,
        0.7134132981300354,
        -0.15534943342208862,
        0.12158223986625671,
        0.3371778428554535,
        -0.9273054599761963,
        -0.1625308096408844,
        -0.9403020143508911,
        -0.34020355343818665,
        -0.009699143469333649
      ],
      "bottle_position_world": [
        0.16121098399162292,
        -0.11773864924907684,
        0.8377196788787842
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        -5.528997917281231e-06,
        -3.784724685829133e-05,
        0.0377444252371788
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.9,
      "clearance_m": -0.00025153160095214844,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177617013454437,
      "action": [
        0.0016376659041270614,
        -0.0011791469296440482,
        -0.00019790232181549072,
        -0.004009435884654522,
        -0.0012693323660641909,
        -0.006591657642275095,
        0.9998412728309631
      ],
      "proprioception": [
        -3.554558753967285,
        -0.9146864414215088,
        0.9597178101539612,
        -1.5097969770431519,
        -1.446108341217041,
        -0.7674558758735657,
        0.9965990781784058,
        0.7134191989898682,
        -0.15535283088684082,
        0.1215817779302597,
        0.33710676431655884,
        -0.9273399114608765,
        -0.16248035430908203,
        -0.9403287768363953,
        -0.3401293456554413,
        -0.009697560220956802
      ],
      "bottle_position_world": [
        0.16121134161949158,
        -0.11773894727230072,
        0.8377204537391663
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        -2.075246811727993e-06,
        -3.393994484213181e-05,
        0.037744369357824326
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 5.95,
      "clearance_m": -0.00024884939193725586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177794337272644,
      "action": [
        0.00151684763841331,
        -0.0011628450592979789,
        -0.0001803189516067505,
        -0.0038339176680892706,
        -0.00109585328027606,
        -0.006364245433360338,
        0.9998412728309631
      ],
      "proprioception": [
        -3.554549217224121,
        -0.9146988987922668,
        0.9597440361976624,
        -1.5098541975021362,
        -1.4461368322372437,
        -0.7673639059066772,
        0.9965991973876953,
        0.7134247422218323,
        -0.15535640716552734,
        0.12158124148845673,
        0.33703669905662537,
        -0.9273741245269775,
        -0.1624314785003662,
        -0.9403554201126099,
        -0.34005650877952576,
        -0.00969424843788147
      ],
      "bottle_position_world": [
        0.1612127274274826,
        -0.11772423982620239,
        0.8377240896224976
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        -0.00015209703997243196,
        -1.3656819646712393e-05,
        0.037745121866464615
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.0,
      "clearance_m": -0.00024706125259399414,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617722064256668,
      "action": [
        0.0016821457538753748,
        -0.0010715159587562084,
        -8.068978786468506e-05,
        -0.003409150755032897,
        -0.001115224789828062,
        -0.006299189757555723,
        0.9998410940170288
      ],
      "proprioception": [
        -3.5545411109924316,
        -0.9147087335586548,
        0.9597655534744263,
        -1.5099073648452759,
        -1.446161150932312,
        -0.76727294921875,
        0.9965994358062744,
        0.7134308815002441,
        -0.15536007285118103,
        0.1215810775756836,
        0.33696573972702026,
        -0.9274078607559204,
        -0.1623867005109787,
        -0.9403819441795349,
        -0.33998262882232666,
        -0.009692825376987457
      ],
      "bottle_position_world": [
        0.16121318936347961,
        -0.11773797124624252,
        0.8377252817153931
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        -1.1720328984665684e-05,
        -1.3580155609815847e-05,
        0.03774496167898178
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.050000000000001,
      "clearance_m": -0.0002550482749938965,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177913546562195,
      "action": [
        0.0013730964856222272,
        -0.0010655854130163789,
        -0.00013825297355651855,
        -0.003456163452938199,
        -0.0010645907605066895,
        -0.0063203782774508,
        0.9998412132263184
      ],
      "proprioception": [
        -3.5545334815979004,
        -0.9147217273712158,
        0.9597929120063782,
        -1.5099636316299438,
        -1.4461865425109863,
        -0.7671806216239929,
        0.9965991973876953,
        0.7134358286857605,
        -0.15536412596702576,
        0.1215805858373642,
        0.3368929922580719,
        -0.9274423122406006,
        -0.1623411327600479,
        -0.9404095411300659,
        -0.3399070203304291,
        -0.009691033512353897
      ],
      "bottle_position_world": [
        0.16121678054332733,
        -0.11774032562971115,
        0.8377174139022827
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        1.389984754496254e-05,
        2.1502080926438794e-05,
        0.03774508088827133
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.1000000000000005,
      "clearance_m": -0.00025731325149536133,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617797315120697,
      "action": [
        0.001262768404558301,
        -0.0010660473490133882,
        -0.00021760165691375732,
        -0.0033673907164484262,
        -0.0007851941627450287,
        -0.0061430614441633224,
        0.9998412728309631
      ],
      "proprioception": [
        -3.5545260906219482,
        -0.9147318005561829,
        0.959815263748169,
        -1.510011911392212,
        -1.446211576461792,
        -0.7670949101448059,
        0.996599018573761,
        0.7134404182434082,
        -0.15536777675151825,
        0.12157995998859406,
        0.33682551980018616,
        -0.9274739027023315,
        -0.1622997522354126,
        -0.9404345750808716,
        -0.3398374021053314,
        -0.009686177596449852
      ],
      "bottle_position_world": [
        0.16120469570159912,
        -0.11774035543203354,
        0.8377153277397156
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        9.361333468405064e-06,
        -0.00010265816672472283,
        0.03774504363536835
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.15,
      "clearance_m": -0.0002589225769042969,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617794781923294,
      "action": [
        0.0012626044917851686,
        -0.0008314436418004334,
        -0.00022135674953460693,
        -0.0032832224387675524,
        -0.0007583721308037639,
        -0.005805830471217632,
        0.9998415112495422
      ],
      "proprioception": [
        -3.5545170307159424,
        -0.9147416353225708,
        0.9598369002342224,
        -1.510059118270874,
        -1.446236252784729,
        -0.7670109272003174,
        0.9965991377830505,
        0.7134449481964111,
        -0.1553703397512436,
        0.12157934904098511,
        0.33676081895828247,
        -0.9275044798851013,
        -0.1622590571641922,
        -0.9404585957527161,
        -0.3397706151008606,
        -0.00968123972415924
      ],
      "bottle_position_world": [
        0.1612125039100647,
        -0.11774822324514389,
        0.8377136588096619
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        9.390165359945968e-05,
        -2.500708433217369e-05,
        0.0377456396818161
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.2,
      "clearance_m": -0.0002562403678894043,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177575290203094,
      "action": [
        0.0010039802873507142,
        -0.0009674985776655376,
        -0.00027905404567718506,
        -0.0032647005282342434,
        -0.000567905546631664,
        -0.005689932964742184,
        0.9998415112495422
      ],
      "proprioception": [
        -3.554509401321411,
        -0.9147518873214722,
        0.9598591327667236,
        -1.5101046562194824,
        -1.446262240409851,
        -0.7669277787208557,
        0.9965988397598267,
        0.7134485244750977,
        -0.15537390112876892,
        0.12157845497131348,
        0.3366955518722534,
        -0.9275354146957397,
        -0.1622183620929718,
        -0.940483033657074,
        -0.33970358967781067,
        -0.00967424176633358
      ],
      "bottle_position_world": [
        0.1612192839384079,
        -0.11773689836263657,
        0.8377225995063782
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        -2.0197874619043432e-05,
        4.9221765948459506e-05,
        0.03774537518620491
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.25,
      "clearance_m": -0.0002557039260864258,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177931427955627,
      "action": [
        0.0010956074111163616,
        -0.0009905953193083405,
        -0.0001192241907119751,
        -0.0029818941839039326,
        -0.0006109401001594961,
        -0.005851307418197393,
        0.9998412132263184
      ],
      "proprioception": [
        -3.554503917694092,
        -0.9147613048553467,
        0.9598793387413025,
        -1.5101486444473267,
        -1.4462851285934448,
        -0.7668431401252747,
        0.9965988397598267,
        0.7134525775909424,
        -0.15537817776203156,
        0.12157823145389557,
        0.33662691712379456,
        -0.9275670647621155,
        -0.16218025982379913,
        -0.9405086040496826,
        -0.339633047580719,
        -0.009668868035078049
      ],
      "bottle_position_world": [
        0.16121003031730652,
        -0.11773920804262161,
        0.837716817855835
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        -4.0017397395786247e-07,
        -4.6975386794656515e-05,
        0.03774392604827881
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.300000000000001,
      "clearance_m": -0.0002620220184326172,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177833080291748,
      "action": [
        0.0011056954972445965,
        -0.0007577723590657115,
        -0.00019688904285430908,
        -0.0028734742663800716,
        -0.0005990489735268056,
        -0.005637333728373051,
        0.9998413324356079
      ],
      "proprioception": [
        -3.554497003555298,
        -0.9147698283195496,
        0.959898054599762,
        -1.510189414024353,
        -1.4463059902191162,
        -0.7667644619941711,
        0.9965990781784058,
        0.713456392288208,
        -0.1553807556629181,
        0.1215776577591896,
        0.3365645408630371,
        -0.9275957345962524,
        -0.16214556992053986,
        -0.940531849861145,
        -0.3395689129829407,
        -0.00966406799852848
      ],
      "bottle_position_world": [
        0.16121326386928558,
        -0.11774270981550217,
        0.8377169966697693
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        3.6637116863857955e-05,
        -1.5651065041311085e-05,
        0.03774216026067734
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.3500000000000005,
      "clearance_m": -0.0002544522285461426,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177940368652344,
      "action": [
        0.0009643432567827404,
        -0.000827569339890033,
        -0.00024244189262390137,
        -0.0028212610632181168,
        -0.00051274144789204,
        -0.005503167863935232,
        0.9998413920402527
      ],
      "proprioception": [
        -3.554490804672241,
        -0.9147787094116211,
        0.9599177837371826,
        -1.5102299451828003,
        -1.4463273286819458,
        -0.7666864395141602,
        0.9965993165969849,
        0.7134597301483154,
        -0.15538397431373596,
        0.12157688289880753,
        0.3365018963813782,
        -0.9276244044303894,
        -0.16211090981960297,
        -0.9405549764633179,
        -0.3395046591758728,
        -0.00965830683708191
      ],
      "bottle_position_world": [
        0.16121934354305267,
        -0.1177382618188858,
        0.8377181887626648
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        -6.006147032167064e-06,
        4.89127887703944e-05,
        0.037740591913461685
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.4,
      "clearance_m": -0.00025653839111328125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617792248725891,
      "action": [
        0.0009627935360185802,
        -0.0008584370370954275,
        -0.00020290911197662354,
        -0.0026259678415954113,
        -0.0004293843812774867,
        -0.005486955866217613,
        0.9998412132263184
      ],
      "proprioception": [
        -3.5544862747192383,
        -0.914786159992218,
        0.959934413433075,
        -1.5102672576904297,
        -1.4463473558425903,
        -0.7666081786155701,
        0.9965991377830505,
        0.7134631872177124,
        -0.1553879678249359,
        0.1215764582157135,
        0.3364374041557312,
        -0.9276536703109741,
        -0.16207833588123322,
        -0.9405790567398071,
        -0.33943867683410645,
        -0.009652417153120041
      ],
      "bottle_position_world": [
        0.16120128333568573,
        -0.11773844063282013,
        0.8377161622047424
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        -1.1471430298115592e-05,
        -0.00013635373034048826,
        0.03773957118391991
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.45,
      "clearance_m": -0.00026285648345947266,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177895665168762,
      "action": [
        0.0010381635511294007,
        -0.00048795712064020336,
        -0.00022351741790771484,
        -0.0025213772896677256,
        -0.0005495771183632314,
        -0.005164384376257658,
        0.9998414516448975
      ],
      "proprioception": [
        -3.5544795989990234,
        -0.9147944450378418,
        0.959952712059021,
        -1.5103061199188232,
        -1.446366310119629,
        -0.7665320634841919,
        0.9965988397598267,
        0.7134669423103333,
        -0.15539006888866425,
        0.12157571315765381,
        0.3363768756389618,
        -0.9276812076568604,
        -0.1620459258556366,
        -0.9406014680862427,
        -0.3393764793872833,
        -0.009647918865084648
      ],
      "bottle_position_world": [
        0.16121268272399902,
        -0.11774347722530365,
        0.8377159833908081
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        4.432861169334501e-05,
        -2.1231007849564776e-05,
        0.03773963451385498
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.5,
      "clearance_m": -0.000258028507232666,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177956759929657,
      "action": [
        0.0008216051501221955,
        -0.0006928181974217296,
        -0.00028967857360839844,
        -0.002450448228046298,
        -0.0004056617326568812,
        -0.005094410385936499,
        0.9998413324356079
      ],
      "proprioception": [
        -3.5544748306274414,
        -0.9148020148277283,
        0.9599703550338745,
        -1.5103414058685303,
        -1.4463841915130615,
        -0.7664616107940674,
        0.9965989589691162,
        0.7134696841239929,
        -0.15539295971393585,
        0.12157480418682098,
        0.3363194167613983,
        -0.9277071356773376,
        -0.16201668977737427,
        -0.9406227469444275,
        -0.3393176794052124,
        -0.009642630815505981
      ],
      "bottle_position_world": [
        0.1612069308757782,
        -0.11774324625730515,
        0.8377147316932678
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        4.055851240991615e-05,
        -8.001655078260228e-05,
        0.03774087131023407
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.550000000000001,
      "clearance_m": -0.00025284290313720703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177977621555328,
      "action": [
        0.000832408491987735,
        -0.0005534104420803487,
        -0.00027589499950408936,
        -0.0023747060913592577,
        -0.00036983934114687145,
        -0.004894799552857876,
        0.9998413920402527
      ],
      "proprioception": [
        -3.554469347000122,
        -0.9148092865943909,
        0.9599873423576355,
        -1.510375738143921,
        -1.4464023113250732,
        -0.7663919925689697,
        0.996599018573761,
        0.7134724259376526,
        -0.15539559721946716,
        0.12157366424798965,
        0.33626314997673035,
        -0.9277325868606567,
        -0.16198784112930298,
        -0.9406435489654541,
        -0.33926019072532654,
        -0.00963672623038292
      ],
      "bottle_position_world": [
        0.1612226814031601,
        -0.1177336797118187,
        0.8377198576927185
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        -5.1459828682709485e-05,
        8.534041262464598e-05,
        0.03774204105138779
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.6000000000000005,
      "clearance_m": -0.00026291608810424805,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178028285503387,
      "action": [
        0.0008569953497499228,
        -0.0007529443828389049,
        -0.0001939833164215088,
        -0.0020924496930092573,
        -0.000305764377117157,
        -0.005043420009315014,
        0.999841034412384
      ],
      "proprioception": [
        -3.5544676780700684,
        -0.9148145318031311,
        0.9600005745887756,
        -1.5104066133499146,
        -1.4464176893234253,
        -0.7663218975067139,
        0.9965989589691162,
        0.713475227355957,
        -0.1554001420736313,
        0.12157297879457474,
        0.3362026810646057,
        -0.9277589321136475,
        -0.16196177899837494,
        -0.9406656622886658,
        -0.339198499917984,
        -0.009631635621190071
      ],
      "bottle_position_world": [
        0.16120824217796326,
        -0.11773845553398132,
        0.8377158641815186
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        -8.343769877683371e-06,
        -6.386650784406811e-05,
        0.03774246573448181
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.65,
      "clearance_m": -0.00025981664657592773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178561747074127,
      "action": [
        0.0008619723375886679,
        -0.00042550635407678783,
        -0.00023794174194335938,
        -0.002067028312012553,
        -0.00035708394716493785,
        -0.004821994341909885,
        0.9998412132263184
      ],
      "proprioception": [
        -3.5544633865356445,
        -0.9148207902908325,
        0.9600157737731934,
        -1.5104390382766724,
        -1.4464327096939087,
        -0.7662521600723267,
        0.9965988397598267,
        0.7134782075881958,
        -0.15540271997451782,
        0.12157195806503296,
        0.3361450135707855,
        -0.9277843832969666,
        -0.161935955286026,
        -0.9406872987747192,
        -0.339139461517334,
        -0.00962689146399498
      ],
      "bottle_position_world": [
        0.1612260639667511,
        -0.11773660778999329,
        0.8377129435539246
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        -1.9825773051707074e-05,
        0.00011929136962862685,
        0.037740558385849
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.7,
      "clearance_m": -0.0002677440643310547,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178517043590546,
      "action": [
        0.000744178774766624,
        -0.0006985849468037486,
        -0.00029411911964416504,
        -0.001887835212983191,
        -0.00011130422353744507,
        -0.004791477229446173,
        0.9998410940170288
      ],
      "proprioception": [
        -3.554462194442749,
        -0.9148246645927429,
        0.9600264430046082,
        -1.5104646682739258,
        -1.4464465379714966,
        -0.7661877274513245,
        0.9965987801551819,
        0.713480532169342,
        -0.1554069221019745,
        0.1215711459517479,
        0.33608895540237427,
        -0.9278087019920349,
        -0.16191379725933075,
        -0.940707802772522,
        -0.33908259868621826,
        -0.009620744735002518
      ],
      "bottle_position_world": [
        0.1612148880958557,
        -0.117731973528862,
        0.8377137780189514
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        -7.198605453595519e-05,
        6.7675323407456744e-06,
        0.037738606333732605
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.75,
      "clearance_m": -0.00025665760040283203,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617833971977234,
      "action": [
        0.0008718667086213827,
        -0.00041803342173807323,
        -0.00024010241031646729,
        -0.0017409325810149312,
        -0.00019469112157821655,
        -0.004601849243044853,
        0.9998411536216736
      ],
      "proprioception": [
        -3.5544593334198,
        -0.9148280620574951,
        0.960036039352417,
        -1.5104899406433105,
        -1.4464585781097412,
        -0.7661239504814148,
        0.9965988397598267,
        0.7134835720062256,
        -0.155409574508667,
        0.12157060950994492,
        0.3360346853733063,
        -0.9278319478034973,
        -0.16189290583133698,
        -0.940727710723877,
        -0.3390273451805115,
        -0.009616116061806679
      ],
      "bottle_position_world": [
        0.16121765971183777,
        -0.11773187667131424,
        0.8377160429954529
      ],
      "bottle_quaternion_world": [
        0.9992877244949341,
        -7.205955625977367e-05,
        3.490331073408015e-05,
        0.037736568599939346
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.800000000000001,
      "clearance_m": -0.00026041269302368164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178473830223083,
      "action": [
        0.0008114276570267975,
        -0.00044514608453027904,
        -0.00025194883346557617,
        -0.001630574930459261,
        -0.0002300664782524109,
        -0.0045381332747638226,
        0.9998410940170288
      ],
      "proprioception": [
        -3.554457902908325,
        -0.9148317575454712,
        0.9600462913513184,
        -1.5105152130126953,
        -1.4464694261550903,
        -0.7660608291625977,
        0.9965987801551819,
        0.7134860754013062,
        -0.15541291236877441,
        0.12156945466995239,
        0.3359799087047577,
        -0.9278550744056702,
        -0.16187317669391632,
        -0.9407477974891663,
        -0.33897149562835693,
        -0.009611859917640686
      ],
      "bottle_position_world": [
        0.16122393310070038,
        -0.11774042993783951,
        0.8377122282981873
      ],
      "bottle_quaternion_world": [
        0.9992878437042236,
        1.8112514226231724e-05,
        9.633900481276214e-05,
        0.03773461654782295
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.8500000000000005,
      "clearance_m": -0.00026875734329223633,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178546845912933,
      "action": [
        0.0006115733995102346,
        -0.0005191154195927083,
        -0.0003206878900527954,
        -0.001668349257670343,
        -5.7660043239593506e-05,
        -0.004464195109903812,
        0.9998410940170288
      ],
      "proprioception": [
        -3.554456949234009,
        -0.9148357510566711,
        0.9600575566291809,
        -1.5105394124984741,
        -1.4464819431304932,
        -0.7659980058670044,
        0.9965988397598267,
        0.7134879231452942,
        -0.15541671216487885,
        0.12156875431537628,
        0.33592453598976135,
        -0.9278784990310669,
        -0.1618533879518509,
        -0.9407680034637451,
        -0.3389154374599457,
        -0.00960570015013218
      ],
      "bottle_position_world": [
        0.16122117638587952,
        -0.11773546785116196,
        0.8377129435539246
      ],
      "bottle_quaternion_world": [
        0.9992878437042236,
        -3.3747124689398333e-05,
        6.960956670809537e-05,
        0.03773242235183716
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.9,
      "clearance_m": -0.0002601742744445801,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178232431411743,
      "action": [
        0.000684901955537498,
        -0.00039684397052042186,
        -0.00027507543563842773,
        -0.0015368170570582151,
        -5.929917097091675e-05,
        -0.004349786322563887,
        0.9998410940170288
      ],
      "proprioception": [
        -3.554455041885376,
        -0.914838433265686,
        0.9600659608840942,
        -1.5105600357055664,
        -1.4464925527572632,
        -0.7659394145011902,
        0.9965987205505371,
        0.7134899497032166,
        -0.15541934967041016,
        0.12156759202480316,
        0.3358737826347351,
        -0.9278998374938965,
        -0.16183623671531677,
        -0.940786600112915,
        -0.3388640880584717,
        -0.009599708020687103
      ],
      "bottle_position_world": [
        0.16121797263622284,
        -0.11774493008852005,
        0.8377124667167664
      ],
      "bottle_quaternion_world": [
        0.9992879629135132,
        6.234804459381849e-05,
        3.214725074940361e-05,
        0.03773031383752823
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 6.95,
      "clearance_m": -0.00025272369384765625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177530586719513,
      "action": [
        0.0005104839219711721,
        -0.00035396587918512523,
        -0.00031544268131256104,
        -0.0016476515447720885,
        -5.2832067012786865e-05,
        -0.004190793726593256,
        0.9998412728309631
      ],
      "proprioception": [
        -3.554452896118164,
        -0.9148431420326233,
        0.960078239440918,
        -1.510583519935608,
        -1.4465047121047974,
        -0.7658811211585999,
        0.9965987801551819,
        0.7134916186332703,
        -0.15542204678058624,
        0.12156659364700317,
        0.3358236849308014,
        -0.9279213547706604,
        -0.1618172526359558,
        -0.9408048987388611,
        -0.3388133645057678,
        -0.009593501687049866
      ],
      "bottle_position_world": [
        0.16121169924736023,
        -0.11774224787950516,
        0.8377202153205872
      ],
      "bottle_quaternion_world": [
        0.9992880821228027,
        3.208942143828608e-05,
        -3.179204213665798e-05,
        0.03772861137986183
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.0,
      "clearance_m": -0.0002606511116027832,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177958250045776,
      "action": [
        0.0005525349988602102,
        -0.00022925809025764465,
        -0.00022254884243011475,
        -0.0015990887768566608,
        -0.0002450868487358093,
        -0.004140160512179136,
        0.9998412728309631
      ],
      "proprioception": [
        -3.554450273513794,
        -0.914849579334259,
        0.9600929617881775,
        -1.5106101036071777,
        -1.446515679359436,
        -0.7658225893974304,
        0.9965988397598267,
        0.713493287563324,
        -0.15542419254779816,
        0.12156578153371811,
        0.33577415347099304,
        -0.9279427528381348,
        -0.16179771721363068,
        -0.9408231973648071,
        -0.3387628197669983,
        -0.009589828550815582
      ],
      "bottle_position_world": [
        0.16121354699134827,
        -0.11773568391799927,
        0.8377182483673096
      ],
      "bottle_quaternion_world": [
        0.9992880821228027,
        -3.469276998657733e-05,
        -9.870137546386104e-06,
        0.037726860493421555
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.050000000000001,
      "clearance_m": -0.00025391578674316406,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177788376808167,
      "action": [
        0.0006584225920960307,
        -0.00020945444703102112,
        -0.00024396181106567383,
        -0.001394958235323429,
        -0.0002497956156730652,
        -0.004004443064332008,
        0.9998410940170288
      ],
      "proprioception": [
        -3.5544488430023193,
        -0.9148543477058411,
        0.9601052403450012,
        -1.5106346607208252,
        -1.4465246200561523,
        -0.7657659649848938,
        0.9965987801551819,
        0.7134954929351807,
        -0.15542665123939514,
        0.12156474590301514,
        0.33572497963905334,
        -0.9279634356498718,
        -0.16178038716316223,
        -0.9408411383628845,
        -0.33871257305145264,
        -0.009586859494447708
      ],
      "bottle_position_world": [
        0.16121990978717804,
        -0.11774192005395889,
        0.8377185463905334
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        3.2105439458973706e-05,
        5.292409332469106e-05,
        0.03772535175085068
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.1000000000000005,
      "clearance_m": -0.00025713443756103516,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177478432655334,
      "action": [
        0.0004948377027176321,
        -0.0002988763153553009,
        -0.00027316808700561523,
        -0.0013855556026101112,
        -0.00016295164823532104,
        -0.004003101959824562,
        0.999841034412384
      ],
      "proprioception": [
        -3.5544488430023193,
        -0.9148592352867126,
        0.9601176977157593,
        -1.5106574296951294,
        -1.446533203125,
        -0.7657124400138855,
        0.9965987801551819,
        0.713496744632721,
        -0.155429869890213,
        0.12156373262405396,
        0.33567720651626587,
        -0.9279836416244507,
        -0.16176430881023407,
        -0.940858781337738,
        -0.3386639654636383,
        -0.009583283215761185
      ],
      "bottle_position_world": [
        0.16121429204940796,
        -0.11774007230997086,
        0.8377218842506409
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        1.078359673556406e-05,
        -4.239457211951958e-06,
        0.03772379830479622
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.15,
      "clearance_m": -0.00024402141571044922,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176888346672058,
      "action": [
        0.0005467533483169973,
        -0.00016343221068382263,
        -0.00021460652351379395,
        -0.001347021316178143,
        -0.00024949759244918823,
        -0.00393309723585844,
        0.9998410940170288
      ],
      "proprioception": [
        -3.554448127746582,
        -0.9148648381233215,
        0.9601309895515442,
        -1.51068115234375,
        -1.446541666984558,
        -0.7656584978103638,
        0.9965987205505371,
        0.7134982347488403,
        -0.15543268620967865,
        0.12156278640031815,
        0.33562958240509033,
        -0.92800372838974,
        -0.16174791753292084,
        -0.940876305103302,
        -0.33861538767814636,
        -0.009580397978425026
      ],
      "bottle_position_world": [
        0.16121262311935425,
        -0.11773966997861862,
        0.8377281427383423
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        6.041155302227708e-06,
        -2.1100580852362327e-05,
        0.037722811102867126
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.2,
      "clearance_m": -0.0002429485321044922,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176924109458923,
      "action": [
        0.0005436241044662893,
        -0.00011662766337394714,
        -0.0001643449068069458,
        -0.0013122421223670244,
        -0.0004026815004181117,
        -0.003963495139032602,
        0.999841034412384
      ],
      "proprioception": [
        -3.554447650909424,
        -0.9148721694946289,
        0.9601472020149231,
        -1.510708212852478,
        -1.446549415588379,
        -0.7656037211418152,
        0.9965987205505371,
        0.7134998440742493,
        -0.15543511509895325,
        0.12156239151954651,
        0.3355816602706909,
        -0.9280241131782532,
        -0.16173055768013,
        -0.9408941864967346,
        -0.3385660946369171,
        -0.009579559788107872
      ],
      "bottle_position_world": [
        0.1612159162759781,
        -0.11773625761270523,
        0.8377293944358826
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        -2.734020927164238e-05,
        1.4193867173162289e-05,
        0.03772254288196564
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.25,
      "clearance_m": -0.0002492070198059082,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177214682102203,
      "action": [
        0.0005900561227463186,
        -0.00013198330998420715,
        -0.0001611560583114624,
        -0.0011957375099882483,
        -0.00042375174234621227,
        -0.003969813231378794,
        0.9998409152030945
      ],
      "proprioception": [
        -3.554447650909424,
        -0.9148789644241333,
        0.9601625800132751,
        -1.5107343196868896,
        -1.446555733680725,
        -0.7655486464500427,
        0.9965988397598267,
        0.7135014533996582,
        -0.15543773770332336,
        0.12156157195568085,
        0.3355327844619751,
        -0.9280447363853455,
        -0.16171464323997498,
        -0.9409123659133911,
        -0.33851584792137146,
        -0.009579254314303398
      ],
      "bottle_position_world": [
        0.16121968626976013,
        -0.11774466186761856,
        0.8377236723899841
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        6.0609992942772806e-05,
        4.9383372243028134e-05,
        0.037721749395132065
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.300000000000001,
      "clearance_m": -0.00021839141845703125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16174381971359253,
      "action": [
        0.0004301666922401637,
        -0.00017311051487922668,
        -0.0002541095018386841,
        -0.0012460511643439531,
        -0.00024386495351791382,
        -0.0038623479194939137,
        0.9998409748077393
      ],
      "proprioception": [
        -3.554447650909424,
        -0.9148854613304138,
        0.9601773023605347,
        -1.5107579231262207,
        -1.4465628862380981,
        -0.7654973864555359,
        0.9965987205505371,
        0.7135024666786194,
        -0.1554405391216278,
        0.12156084924936295,
        0.33548688888549805,
        -0.9280636310577393,
        -0.16169953346252441,
        -0.9409290552139282,
        -0.3384689390659332,
        -0.009576968848705292
      ],
      "bottle_position_world": [
        0.16121716797351837,
        -0.11774104833602905,
        0.837755024433136
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        2.2471680495073088e-05,
        2.495916123734787e-05,
        0.03772120177745819
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.3500000000000005,
      "clearance_m": -0.00023216009140014648,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617579460144043,
      "action": [
        0.00043216344784013927,
        -0.0001579858362674713,
        9.888410568237305e-05,
        -0.0013158927904441953,
        -0.0007952971500344574,
        -0.004418598487973213,
        0.9998407363891602
      ],
      "proprioception": [
        -3.554447650909424,
        -0.9148985147476196,
        0.9602014422416687,
        -1.5107914209365845,
        -1.4465676546096802,
        -0.7654394507408142,
        0.996598482131958,
        0.7135035395622253,
        -0.15544234216213226,
        0.12156122177839279,
        0.33543580770492554,
        -0.9280853271484375,
        -0.16168154776096344,
        -0.9409481287002563,
        -0.3384157419204712,
        -0.009580569341778755
      ],
      "bottle_position_world": [
        0.1612163782119751,
        -0.11773917824029922,
        0.8377404808998108
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        3.153052830384695e-06,
        1.751874151523225e-05,
        0.03772181272506714
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.4,
      "clearance_m": -0.0002416372299194336,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617705523967743,
      "action": [
        0.0005646347417496145,
        -9.028986096382141e-05,
        -7.696449756622314e-05,
        -0.0012504470068961382,
        -0.0006580873159691691,
        -0.004217496141791344,
        0.9998407959938049
      ],
      "proprioception": [
        -3.554447650909424,
        -0.9149090051651001,
        0.9602220058441162,
        -1.5108227729797363,
        -1.4465727806091309,
        -0.7653822898864746,
        0.9965985417366028,
        0.713505208492279,
        -0.15544459223747253,
        0.12156118452548981,
        0.33538559079170227,
        -0.9281067252159119,
        -0.16166390478610992,
        -0.9409670233726501,
        -0.33836355805397034,
        -0.009583445265889168
      ],
      "bottle_position_world": [
        0.16121123731136322,
        -0.11772797256708145,
        0.8377304673194885
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        -0.00011435611668275669,
        -3.113668935839087e-05,
        0.03772220015525818
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.45,
      "clearance_m": -0.00025153160095214844,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177475452423096,
      "action": [
        0.0007941423100419343,
        7.091835141181946e-05,
        -0.00017569959163665771,
        -0.0009183899965137243,
        -0.0005066021694801748,
        -0.0037656407803297043,
        0.9998407959938049
      ],
      "proprioception": [
        -3.554447650909424,
        -0.9149143099784851,
        0.9602347612380981,
        -1.5108473300933838,
        -1.446574330329895,
        -0.7653303742408752,
        0.9965989589691162,
        0.7135079503059387,
        -0.15544623136520386,
        0.1215607076883316,
        0.33533912897109985,
        -0.9281254410743713,
        -0.16165152192115784,
        -0.9409840106964111,
        -0.3383153975009918,
        -0.00958641991019249
      ],
      "bottle_position_world": [
        0.16120842099189758,
        -0.11773967742919922,
        0.8377213478088379
      ],
      "bottle_quaternion_world": [
        0.9992883205413818,
        5.1006468311243225e-06,
        -6.32151568424888e-05,
        0.03772250935435295
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.5,
      "clearance_m": -0.00025141239166259766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617739200592041,
      "action": [
        0.0005740522756241262,
        0.00011261925101280212,
        -0.00033351778984069824,
        -0.0009240598301403224,
        -0.0002877935767173767,
        -0.003327164566144347,
        0.9998410940170288
      ],
      "proprioception": [
        -3.5544474124908447,
        -0.9149185419082642,
        0.9602470397949219,
        -1.5108686685562134,
        -1.4465783834457397,
        -0.7652853727340698,
        0.9965987801551819,
        0.7135093212127686,
        -0.1554480642080307,
        0.12155941128730774,
        0.33529892563819885,
        -0.9281417727470398,
        -0.1616402417421341,
        -0.9409988522529602,
        -0.33827418088912964,
        -0.009585889056324959
      ],
      "bottle_position_world": [
        0.16120977699756622,
        -0.11774341762065887,
        0.837721049785614
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        4.4024738599546254e-05,
        -5.131525540491566e-05,
        0.0377238504588604
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.550000000000001,
      "clearance_m": -0.00024384260177612305,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176638007164001,
      "action": [
        0.0004484355158638209,
        0.00010412558913230896,
        -0.0003158748149871826,
        -0.0009289101581089199,
        -0.00016238540410995483,
        -0.0031053482089191675,
        0.9998411536216736
      ],
      "proprioception": [
        -3.5544469356536865,
        -0.914922833442688,
        0.9602585434913635,
        -1.5108877420425415,
        -1.44658362865448,
        -0.765242338180542,
        0.996598482131958,
        0.7135105729103088,
        -0.15544986724853516,
        0.12155817449092865,
        0.33526086807250977,
        -0.9281578660011292,
        -0.16162896156311035,
        -0.941012978553772,
        -0.33823540806770325,
        -0.009583910927176476
      ],
      "bottle_position_world": [
        0.16121186316013336,
        -0.11774399876594543,
        0.8377291560173035
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        5.06577234773431e-05,
        -3.0042490834603086e-05,
        0.037724148482084274
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.6000000000000005,
      "clearance_m": -0.0002529025077819824,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617768406867981,
      "action": [
        0.000381231278879568,
        8.755549788475037e-05,
        -0.00019790232181549072,
        -0.0009346918086521327,
        -0.00024493783712387085,
        -0.003190611721947789,
        0.999841034412384
      ],
      "proprioception": [
        -3.5544469356536865,
        -0.9149284958839417,
        0.9602717757225037,
        -1.5109078884124756,
        -1.4465886354446411,
        -0.7651980519294739,
        0.9965985417366028,
        0.7135114073753357,
        -0.1554517149925232,
        0.12155728787183762,
        0.33522123098373413,
        -0.9281740784645081,
        -0.1616172045469284,
        -0.9410275816917419,
        -0.338194876909256,
        -0.009582573547959328
      ],
      "bottle_position_world": [
        0.161211758852005,
        -0.1177407056093216,
        0.8377191424369812
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        1.698022060736548e-05,
        -2.9939517844468355e-05,
        0.037724241614341736
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.65,
      "clearance_m": -0.0002568960189819336,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178028285503387,
      "action": [
        0.00046601888607256114,
        0.00015306100249290466,
        -0.00027833878993988037,
        -0.0008124726009555161,
        -8.498877286911011e-05,
        -0.0029408112168312073,
        0.999841034412384
      ],
      "proprioception": [
        -3.554446220397949,
        -0.9149315357208252,
        0.9602808356285095,
        -1.5109241008758545,
        -1.446593165397644,
        -0.7651561498641968,
        0.9965987801551819,
        0.713512659072876,
        -0.15545304119586945,
        0.12155641615390778,
        0.3351841866970062,
        -0.9281891584396362,
        -0.16160748898983002,
        -0.9410411715507507,
        -0.3381572663784027,
        -0.009579973295331001
      ],
      "bottle_position_world": [
        0.16121959686279297,
        -0.11774216592311859,
        0.8377158641815186
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        3.5128941817674786e-05,
        5.091456841910258e-05,
        0.037725161761045456
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.7,
      "clearance_m": -0.00025212764739990234,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177599132061005,
      "action": [
        0.0003702342219185084,
        4.359707236289978e-05,
        -0.00031679868698120117,
        -0.0007277223048731685,
        0.00010219961404800415,
        -0.0028253579512238503,
        0.999841034412384
      ],
      "proprioception": [
        -3.554446220397949,
        -0.9149326086044312,
        0.9602862596511841,
        -1.5109353065490723,
        -1.4465978145599365,
        -0.765117883682251,
        0.9965988397598267,
        0.7135134935379028,
        -0.1554548144340515,
        0.12155511230230331,
        0.335149347782135,
        -0.9282029867172241,
        -0.1615997850894928,
        -0.941053569316864,
        -0.33812227845191956,
        -0.00957568921148777
      ],
      "bottle_position_world": [
        0.16122359037399292,
        -0.11774247139692307,
        0.8377208113670349
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        3.940292299375869e-05,
        9.13679032237269e-05,
        0.0377240851521492
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.75,
      "clearance_m": -0.0002582073211669922,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178324818611145,
      "action": [
        0.0003107786178588867,
        4.190951585769653e-06,
        -0.00023296475410461426,
        -0.0007110702572390437,
        0.00010020285844802856,
        -0.002900518709793687,
        0.9998409748077393
      ],
      "proprioception": [
        -3.554446220397949,
        -0.9149340987205505,
        0.9602921605110168,
        -1.5109463930130005,
        -1.4466023445129395,
        -0.7650785446166992,
        0.9965987205505371,
        0.7135142087936401,
        -0.1554565727710724,
        0.12155427783727646,
        0.33511340618133545,
        -0.9282174110412598,
        -0.1615924835205078,
        -0.9410668015480042,
        -0.33808621764183044,
        -0.009571079164743423
      ],
      "bottle_position_world": [
        0.1612105667591095,
        -0.11773521453142166,
        0.8377141356468201
      ],
      "bottle_quaternion_world": [
        0.9992882013320923,
        -3.961307447752915e-05,
        -3.863639722112566e-05,
        0.03772542253136635
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.800000000000001,
      "clearance_m": -0.0002605915069580078,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617858111858368,
      "action": [
        0.0005233585252426565,
        0.00029833242297172546,
        -0.00026310980319976807,
        -0.0005438792868517339,
        5.266815423965454e-05,
        -0.002553383819758892,
        0.9998410940170288
      ],
      "proprioception": [
        -3.554446220397949,
        -0.9149340987205505,
        0.9602957367897034,
        -1.5109562873840332,
        -1.4466042518615723,
        -0.7650420069694519,
        0.9965987801551819,
        0.7135155200958252,
        -0.15545766055583954,
        0.12155310809612274,
        0.33507996797561646,
        -0.9282301664352417,
        -0.1615872085094452,
        -0.941078782081604,
        -0.3380524814128876,
        -0.00956847332417965
      ],
      "bottle_position_world": [
        0.1612219661474228,
        -0.11773746460676193,
        0.8377119302749634
      ],
      "bottle_quaternion_world": [
        0.9992880821228027,
        -1.3023201972828247e-05,
        7.730726792942733e-05,
        0.03772752359509468
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.8500000000000005,
      "clearance_m": -0.00026619434356689453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178306937217712,
      "action": [
        0.0003925561613868922,
        0.00010321661829948425,
        -0.00032301247119903564,
        -0.0004505831457208842,
        0.00020021945238113403,
        -0.002445023274049163,
        0.9998409152030945
      ],
      "proprioception": [
        -3.554446220397949,
        -0.9149338006973267,
        0.9602975249290466,
        -1.5109634399414062,
        -1.446605920791626,
        -0.7650077939033508,
        0.9965985417366028,
        0.713516891002655,
        -0.15545864403247833,
        0.12155242264270782,
        0.3350486755371094,
        -0.9282423853874207,
        -0.16158290207386017,
        -0.9410901069641113,
        -0.3380209803581238,
        -0.009565582498908043
      ],
      "bottle_position_world": [
        0.1612103432416916,
        -0.117739737033844,
        0.8377126455307007
      ],
      "bottle_quaternion_world": [
        0.9992879629135132,
        6.749590284016449e-06,
        -4.2283332732040435e-05,
        0.037729691714048386
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.9,
      "clearance_m": -0.0002599954605102539,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178138554096222,
      "action": [
        0.00039088723133318126,
        0.0003240816295146942,
        -0.0003005415201187134,
        -0.0004569012380670756,
        0.00011096149682998657,
        -0.0022483887150883675,
        0.9998411536216736
      ],
      "proprioception": [
        -3.554446220397949,
        -0.9149338006973267,
        0.9603012800216675,
        -1.5109715461730957,
        -1.446607232093811,
        -0.7649766206741333,
        0.9965985417366028,
        0.7135177254676819,
        -0.15545949339866638,
        0.12155112624168396,
        0.33501997590065,
        -0.9282532930374146,
        -0.16157925128936768,
        -0.941100537776947,
        -0.3379921615123749,
        -0.009562630206346512
      ],
      "bottle_position_world": [
        0.16121339797973633,
        -0.11774551868438721,
        0.8377127051353455
      ],
      "bottle_quaternion_world": [
        0.9992879629135132,
        6.684426625724882e-05,
        -1.2818666618841235e-05,
        0.037731654942035675
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 7.95,
      "clearance_m": -0.000260770320892334,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178183257579803,
      "action": [
        0.0002484321594238281,
        0.00024360045790672302,
        -0.0003271251916885376,
        -0.0005314070149324834,
        0.00014866143465042114,
        -0.002149773295968771,
        0.9998411536216736
      ],
      "proprioception": [
        -3.554446220397949,
        -0.9149345755577087,
        0.9603062868118286,
        -1.510980248451233,
        -1.446610450744629,
        -0.7649462223052979,
        0.9965985417366028,
        0.7135182619094849,
        -0.15546071529388428,
        0.12154987454414368,
        0.3349922299385071,
        -0.928264319896698,
        -0.16157428920269012,
        -0.9411106705665588,
        -0.33796441555023193,
        -0.009558746591210365
      ],
      "bottle_position_world": [
        0.1612148880958557,
        -0.11774700880050659,
        0.8377118706703186
      ],
      "bottle_quaternion_world": [
        0.9992878437042236,
        8.266163058578968e-05,
        1.9968399556091754e-06,
        0.037733834236860275
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.0,
      "clearance_m": -0.0002665519714355469,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.161785289645195,
      "action": [
        0.0002034604549407959,
        0.00023716315627098083,
        -0.0003150850534439087,
        -0.0005445423885248601,
        0.00020764023065567017,
        -0.0020693966653198004,
        0.9998411536216736
      ],
      "proprioception": [
        -3.554446220397949,
        -0.9149348139762878,
        0.9603106379508972,
        -1.510987639427185,
        -1.446614384651184,
        -0.764916181564331,
        0.996598482131958,
        0.7135185599327087,
        -0.15546202659606934,
        0.12154825776815414,
        0.3349645733833313,
        -0.9282751679420471,
        -0.16156946122646332,
        -0.9411205649375916,
        -0.3379369378089905,
        -0.009553644806146622
      ],
      "bottle_position_world": [
        0.1612047255039215,
        -0.11773157119750977,
        0.8377125859260559
      ],
      "bottle_quaternion_world": [
        0.9992877244949341,
        -7.980447117006406e-05,
        -9.698954090708867e-05,
        0.03773605823516846
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.05,
      "clearance_m": -0.0002594590187072754,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617809683084488,
      "action": [
        0.0005218088044784963,
        0.0004867128736805171,
        -0.00023928284645080566,
        -0.00025218166410923004,
        3.89590859413147e-05,
        -0.0018433767836540937,
        0.9998410940170288
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149340987205505,
        0.9603119492530823,
        -1.5109946727752686,
        -1.446614384651184,
        -0.7648888826370239,
        0.9965987205505371,
        0.7135199904441833,
        -0.15546230971813202,
        0.1215478777885437,
        0.3349398672580719,
        -0.9282844662666321,
        -0.16156625747680664,
        -0.9411295056343079,
        -0.3379119038581848,
        -0.009552836418151855
      ],
      "bottle_position_world": [
        0.16121196746826172,
        -0.11774549633264542,
        0.8377130031585693
      ],
      "bottle_quaternion_world": [
        0.9992877244949341,
        6.607450632145628e-05,
        -2.711247725528665e-05,
        0.03773833438754082
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.1,
      "clearance_m": -0.0002601146697998047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178564727306366,
      "action": [
        0.00021943449974060059,
        0.0003101564943790436,
        -0.0003288090229034424,
        -0.0003821421123575419,
        9.61795449256897e-05,
        -0.001848741201683879,
        0.9998410940170288
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149347543716431,
        0.9603170156478882,
        -1.5110024213790894,
        -1.446615219116211,
        -0.7648633122444153,
        0.996598482131958,
        0.7135206460952759,
        -0.1554628312587738,
        0.12154628336429596,
        0.3349163234233856,
        -0.9282934665679932,
        -0.16156364977359772,
        -0.9411380290985107,
        -0.3378882110118866,
        -0.009550662711262703
      ],
      "bottle_position_world": [
        0.161214679479599,
        -0.11773441731929779,
        0.8377123475074768
      ],
      "bottle_quaternion_world": [
        0.9992876052856445,
        -4.692626680480316e-05,
        3.846317667921539e-06,
        0.03774045407772064
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.15,
      "clearance_m": -0.00025916099548339844,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178514063358307,
      "action": [
        0.00038644668529741466,
        0.0003177039325237274,
        -0.00025913119316101074,
        -0.00019136257469654083,
        0.00014094263315200806,
        -0.0017815371975302696,
        0.9998409748077393
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149332046508789,
        0.9603172540664673,
        -1.5110061168670654,
        -1.446615219116211,
        -0.7648383378982544,
        0.996598482131958,
        0.7135214805603027,
        -0.15546326339244843,
        0.12154534459114075,
        0.3348931074142456,
        -0.9283019304275513,
        -0.16156266629695892,
        -0.9411462545394897,
        -0.33786505460739136,
        -0.009548051282763481
      ],
      "bottle_position_world": [
        0.16122324764728546,
        -0.11773542314767838,
        0.8377135396003723
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        -3.331619154778309e-05,
        9.147416858468205e-05,
        0.0377424880862236
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.200000000000001,
      "clearance_m": -0.00025904178619384766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178253293037415,
      "action": [
        0.00030517578125,
        0.00018819794058799744,
        -0.0002514868974685669,
        -0.00014364905655384064,
        0.0001966729760169983,
        -0.0018766956636682153,
        0.9998408555984497
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149318933486938,
        0.9603172540664673,
        -1.5110085010528564,
        -1.446615219116211,
        -0.7648128867149353,
        0.9965987205505371,
        0.7135221362113953,
        -0.1554635912179947,
        0.12154464423656464,
        0.334869384765625,
        -0.9283105134963989,
        -0.16156217455863953,
        -0.9411547780036926,
        -0.3378414809703827,
        -0.009544728323817253
      ],
      "bottle_position_world": [
        0.16122162342071533,
        -0.11774255335330963,
        0.8377135396003723
      ],
      "bottle_quaternion_world": [
        0.999287486076355,
        3.925783312297426e-05,
        7.255109812831506e-05,
        0.037744730710983276
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.25,
      "clearance_m": -0.0002594590187072754,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178323328495026,
      "action": [
        0.0001790076494216919,
        0.0002087019383907318,
        -0.00025978684425354004,
        -0.0002630744129419327,
        0.00021410733461380005,
        -0.001883967430330813,
        0.9998409748077393
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149318933486938,
        0.9603200554847717,
        -1.5110130310058594,
        -1.446615219116211,
        -0.7647864818572998,
        0.996598482131958,
        0.7135225534439087,
        -0.15546372532844543,
        0.1215437650680542,
        0.3348448872566223,
        -0.9283196330070496,
        -0.16156135499477386,
        -0.9411637187004089,
        -0.33781710267066956,
        -0.009541718289256096
      ],
      "bottle_position_world": [
        0.161222904920578,
        -0.11774172633886337,
        0.8377132415771484
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        3.112719423370436e-05,
        8.553771476726979e-05,
        0.03774675726890564
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.3,
      "clearance_m": -0.0002638101577758789,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177941858768463,
      "action": [
        0.00016762316226959229,
        0.0001798979938030243,
        -0.00024230778217315674,
        -0.00026756711304187775,
        0.0002469494938850403,
        -0.0018377441447228193,
        0.9998409152030945
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149318933486938,
        0.9603210687637329,
        -1.511015772819519,
        -1.4466153383255005,
        -0.7647618651390076,
        0.996598482131958,
        0.7135229706764221,
        -0.15546397864818573,
        0.12154347449541092,
        0.334821879863739,
        -0.9283281564712524,
        -0.1615602672100067,
        -0.9411718845367432,
        -0.3377941846847534,
        -0.009538881480693817
      ],
      "bottle_position_world": [
        0.1612151712179184,
        -0.11774473637342453,
        0.8377153277397156
      ],
      "bottle_quaternion_world": [
        0.9992872476577759,
        5.9577061620075256e-05,
        4.5900205805082805e-06,
        0.03774862736463547
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.35,
      "clearance_m": -0.0002613067626953125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617802083492279,
      "action": [
        0.0001445859670639038,
        0.0002948455512523651,
        -0.00022377073764801025,
        -0.0003460962325334549,
        0.00014496594667434692,
        -0.0017365358071401715,
        0.999841034412384
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149325489997864,
        0.9603250622749329,
        -1.5110223293304443,
        -1.4466160535812378,
        -0.7647373676300049,
        0.9965986609458923,
        0.7135235071182251,
        -0.15546433627605438,
        0.12154228985309601,
        0.3347993791103363,
        -0.928336501121521,
        -0.16155779361724854,
        -0.9411800503730774,
        -0.33777159452438354,
        -0.009536748751997948
      ],
      "bottle_position_world": [
        0.1612282395362854,
        -0.11774025857448578,
        0.8377176523208618
      ],
      "bottle_quaternion_world": [
        0.9992872476577759,
        1.857972893049009e-05,
        0.00014091964112594724,
        0.037749167531728745
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.4,
      "clearance_m": -0.00025665760040283203,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617814153432846,
      "action": [
        0.00013715028762817383,
        8.235499262809753e-05,
        -0.00018343329429626465,
        -0.00025268830358982086,
        0.00020731240510940552,
        -0.0018382209818810225,
        0.9998407363891602
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149325489997864,
        0.9603270292282104,
        -1.5110257863998413,
        -1.4466160535812378,
        -0.7647125720977783,
        0.9965985417366028,
        0.7135238647460938,
        -0.15546450018882751,
        0.1215418204665184,
        0.334776371717453,
        -0.9283451437950134,
        -0.1615568846464157,
        -0.9411882758140564,
        -0.3377486765384674,
        -0.00953376293182373
      ],
      "bottle_position_world": [
        0.16120925545692444,
        -0.11773395538330078,
        0.8377164006233215
      ],
      "bottle_quaternion_world": [
        0.9992872476577759,
        -5.402629540185444e-05,
        -5.277462332742289e-05,
        0.037750571966171265
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.450000000000001,
      "clearance_m": -0.0002657771110534668,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617809236049652,
      "action": [
        0.0003630071587394923,
        0.0004456601745914668,
        -0.00016532838344573975,
        -0.00013402290642261505,
        8.381903171539307e-06,
        -0.0015785243595018983,
        0.9998409748077393
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149325489997864,
        0.9603287577629089,
        -1.511031150817871,
        -1.4466160535812378,
        -0.7646897435188293,
        0.996598482131958,
        0.7135248184204102,
        -0.15546491742134094,
        0.12154106795787811,
        0.3347552716732025,
        -0.9283530116081238,
        -0.16155491769313812,
        -0.9411959648132324,
        -0.3377273380756378,
        -0.009532704949378967
      ],
      "bottle_position_world": [
        0.1612200289964676,
        -0.11774775385856628,
        0.8377131819725037
      ],
      "bottle_quaternion_world": [
        0.9992871284484863,
        9.267853602068499e-05,
        5.3110907174414024e-05,
        0.03775203973054886
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.5,
      "clearance_m": -0.00026041269302368164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178277134895325,
      "action": [
        5.003809928894043e-05,
        0.00021037086844444275,
        -0.00028996169567108154,
        -0.00028147734701633453,
        0.0001813545823097229,
        -0.001512512331828475,
        0.9998409152030945
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149333834648132,
        0.960332989692688,
        -1.5110363960266113,
        -1.446616530418396,
        -0.7646691203117371,
        0.996598482131958,
        0.7135248780250549,
        -0.15546520054340363,
        0.1215401217341423,
        0.3347361981868744,
        -0.9283602833747864,
        -0.16155345737934113,
        -0.9412028789520264,
        -0.33770832419395447,
        -0.009530242532491684
      ],
      "bottle_position_world": [
        0.16120857000350952,
        -0.11774136871099472,
        0.8377121686935425
      ],
      "bottle_quaternion_world": [
        0.9992871284484863,
        2.230922837043181e-05,
        -6.252279126783833e-05,
        0.037754181772470474
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.55,
      "clearance_m": -0.0002612471580505371,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178396344184875,
      "action": [
        0.00021070241928100586,
        0.0004318989522289485,
        -0.00023686885833740234,
        -0.00019845552742481232,
        0.0001254454255104065,
        -0.0012623521033674479,
        0.999841034412384
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149333834648132,
        0.9603351950645447,
        -1.5110403299331665,
        -1.446616530418396,
        -0.7646504640579224,
        0.9965984225273132,
        0.7135252952575684,
        -0.15546537935733795,
        0.12153935432434082,
        0.33471888303756714,
        -0.9283667802810669,
        -0.16155226528644562,
        -0.9412092566490173,
        -0.3376910388469696,
        -0.009528564289212227
      ],
      "bottle_position_world": [
        0.16120459139347076,
        -0.1177385076880455,
        0.8377114534378052
      ],
      "bottle_quaternion_world": [
        0.9992870092391968,
        -8.58315615914762e-06,
        -0.00010267659672535956,
        0.03775627911090851
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.6,
      "clearance_m": -0.0002601742744445801,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617858111858368,
      "action": [
        0.00026854872703552246,
        0.0005076713277958333,
        -0.00024928152561187744,
        -9.487010538578033e-05,
        6.098300218582153e-05,
        -0.001054928288795054,
        0.999841034412384
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149333834648132,
        0.9603372812271118,
        -1.5110440254211426,
        -1.446616530418396,
        -0.7646341919898987,
        0.9965981841087341,
        0.7135257720947266,
        -0.15546555817127228,
        0.12153889238834381,
        0.33470380306243896,
        -0.9283722043037415,
        -0.1615513414144516,
        -0.9412144422531128,
        -0.3376758396625519,
        -0.00952722504734993
      ],
      "bottle_position_world": [
        0.1612226516008377,
        -0.11773639917373657,
        0.8377124071121216
      ],
      "bottle_quaternion_world": [
        0.9992868900299072,
        -2.3787730242474936e-05,
        8.389401773456484e-05,
        0.03775858134031296
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.65,
      "clearance_m": -0.0002598762512207031,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178548336029053,
      "action": [
        0.0001962035894393921,
        0.00021749362349510193,
        -0.00025087594985961914,
        2.8831884264945984e-05,
        0.00020564347505569458,
        -0.001184061518870294,
        0.9998407363891602
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149313569068909,
        0.960336446762085,
        -1.5110440254211426,
        -1.446616530418396,
        -0.7646181583404541,
        0.9965982437133789,
        0.7135260105133057,
        -0.15546560287475586,
        0.12153781950473785,
        0.33468854427337646,
        -0.9283774495124817,
        -0.16155223548412323,
        -0.9412197470664978,
        -0.3376610279083252,
        -0.009523849934339523
      ],
      "bottle_position_world": [
        0.1612226516008377,
        -0.11773668229579926,
        0.8377126455307007
      ],
      "bottle_quaternion_world": [
        0.9992868900299072,
        -2.0874955225735903e-05,
        8.372114825760946e-05,
        0.03776072338223457
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.700000000000001,
      "clearance_m": -0.0002601146697998047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617828607559204,
      "action": [
        0.00018906593322753906,
        0.0002545379102230072,
        -0.00021354854106903076,
        4.501454532146454e-05,
        0.00022182613611221313,
        -0.0012397024547681212,
        0.9998407959938049
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149298071861267,
        0.9603357911109924,
        -1.5110440254211426,
        -1.446616530418396,
        -0.7646018862724304,
        0.9965984225273132,
        0.7135262489318848,
        -0.1554657518863678,
        0.12153705209493637,
        0.33467307686805725,
        -0.928382933139801,
        -0.16155314445495605,
        -0.9412252902984619,
        -0.33764588832855225,
        -0.009520534425973892
      ],
      "bottle_position_world": [
        0.16122180223464966,
        -0.11774392426013947,
        0.8377127051353455
      ],
      "bottle_quaternion_world": [
        0.9992867708206177,
        5.353989763534628e-05,
        7.237253885250539e-05,
        0.0377628430724144
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.75,
      "clearance_m": -0.00025850534439086914,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178028285503387,
      "action": [
        5.742907524108887e-05,
        0.0002405010163784027,
        -0.00022827088832855225,
        -9.537674486637115e-05,
        0.0002373233437538147,
        -0.0012366328155621886,
        0.9998408555984497
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149298071861267,
        0.9603367447853088,
        -1.5110442638397217,
        -1.446616530418396,
        -0.7645849585533142,
        0.9965982437133789,
        0.7135259509086609,
        -0.15546564757823944,
        0.12153644859790802,
        0.3346569538116455,
        -0.9283887147903442,
        -0.16155381500720978,
        -0.9412310123443604,
        -0.3376300632953644,
        -0.009517170488834381
      ],
      "bottle_position_world": [
        0.16121378540992737,
        -0.1177443340420723,
        0.8377143740653992
      ],
      "bottle_quaternion_world": [
        0.9992866516113281,
        5.476139995153062e-05,
        -9.76632691163104e-06,
        0.037764567881822586
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.8,
      "clearance_m": -0.00025582313537597656,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177907586097717,
      "action": [
        8.247792720794678e-05,
        0.0003546066291164607,
        -0.0001979917287826538,
        -0.00015318579971790314,
        0.00013510137796401978,
        -0.0011313711293041706,
        0.9998409748077393
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149301052093506,
        0.9603404402732849,
        -1.5110479593276978,
        -1.446616530418396,
        -0.7645682692527771,
        0.9965985417366028,
        0.7135259509086609,
        -0.15546570718288422,
        0.12153513729572296,
        0.3346414268016815,
        -0.9283943176269531,
        -0.16155356168746948,
        -0.9412364959716797,
        -0.3376147150993347,
        -0.009514588862657547
      ],
      "bottle_position_world": [
        0.1612190455198288,
        -0.11774256825447083,
        0.8377169370651245
      ],
      "bottle_quaternion_world": [
        0.9992866516113281,
        3.87361433240585e-05,
        4.504868047661148e-05,
        0.03776620700955391
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.85,
      "clearance_m": -0.00025784969329833984,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177932918071747,
      "action": [
        7.782876491546631e-05,
        0.00025746598839759827,
        -0.0001612454652786255,
        -0.00012292154133319855,
        0.00011689215898513794,
        -0.0011552427895367146,
        0.9998407959938049
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149304628372192,
        0.9603433012962341,
        -1.511051058769226,
        -1.446616530418396,
        -0.7645519375801086,
        0.9965984225273132,
        0.7135259509086609,
        -0.15546561777591705,
        0.12153436243534088,
        0.33462604880332947,
        -0.9283999800682068,
        -0.161553293466568,
        -0.9412420988082886,
        -0.33759942650794983,
        -0.009512567892670631
      ],
      "bottle_position_world": [
        0.16121351718902588,
        -0.11774640530347824,
        0.8377146124839783
      ],
      "bottle_quaternion_world": [
        0.9992865324020386,
        7.641791307833046e-05,
        -1.2620082088687923e-05,
        0.0377679206430912
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.9,
      "clearance_m": -0.000260770320892334,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178090870380402,
      "action": [
        5.1468610763549805e-05,
        0.00034525617957115173,
        -0.00018881261348724365,
        -0.00018096156418323517,
        0.00010818988084793091,
        -0.001028612838126719,
        0.9998409152030945
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149314761161804,
        0.9603472948074341,
        -1.51105535030365,
        -1.446616530418396,
        -0.76453697681427,
        0.9965986609458923,
        0.7135258913040161,
        -0.15546560287475586,
        0.12153352797031403,
        0.3346122205257416,
        -0.9284049868583679,
        -0.1615527719259262,
        -0.9412469863891602,
        -0.3375856578350067,
        -0.009510917589068413
      ],
      "bottle_position_world": [
        0.16121406853199005,
        -0.11774911731481552,
        0.8377119898796082
      ],
      "bottle_quaternion_world": [
        0.9992865324020386,
        0.00010464221122674644,
        -7.898326657596044e-06,
        0.03777008876204491
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 8.950000000000001,
      "clearance_m": -0.00025957822799682617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178467869758606,
      "action": [
        -5.125999450683594e-06,
        0.00031802430748939514,
        -0.00021836161613464355,
        -0.00021672435104846954,
        0.0001825466752052307,
        -0.0008881844114512205,
        0.9998409152030945
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149318337440491,
        0.9603505730628967,
        -1.51105797290802,
        -1.4466172456741333,
        -0.7645233273506165,
        0.9965983629226685,
        0.7135257124900818,
        -0.15546567738056183,
        0.12153255939483643,
        0.33459925651550293,
        -0.9284096360206604,
        -0.16155266761779785,
        -0.9412514567375183,
        -0.33757293224334717,
        -0.009508304297924042
      ],
      "bottle_position_world": [
        0.16122131049633026,
        -0.11773780733346939,
        0.8377129435539246
      ],
      "bottle_quaternion_world": [
        0.999286413192749,
        -9.042979399964679e-06,
        7.006499799899757e-05,
        0.03777215629816055
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.0,
      "clearance_m": -0.000258028507232666,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617799550294876,
      "action": [
        0.00014275312423706055,
        0.00024120137095451355,
        -0.0001541823148727417,
        8.432194590568542e-06,
        0.00021896511316299438,
        -0.0008931017946451902,
        0.9998406767845154
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149300456047058,
        0.9603488445281982,
        -1.51105797290802,
        -1.4466172456741333,
        -0.7645107507705688,
        0.9965984225273132,
        0.71352618932724,
        -0.15546591579914093,
        0.12153209745883942,
        0.33458754420280457,
        -0.9284140467643738,
        -0.16155265271663666,
        -0.9412558078765869,
        -0.33756139874458313,
        -0.009506173431873322
      ],
      "bottle_position_world": [
        0.16121044754981995,
        -0.11774369329214096,
        0.8377145528793335
      ],
      "bottle_quaternion_world": [
        0.9992862939834595,
        4.776659989147447e-05,
        -4.3233441829215735e-05,
        0.03777410835027695
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.05,
      "clearance_m": -0.0002551078796386719,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177944839000702,
      "action": [
        9.575486183166504e-05,
        0.0004325918562244624,
        -0.0001512467861175537,
        -6.863661110401154e-05,
        8.065253496170044e-05,
        -0.0008168079075403512,
        0.9998408555984497
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149300456047058,
        0.9603519439697266,
        -1.511060118675232,
        -1.4466172456741333,
        -0.7644981145858765,
        0.996598482131958,
        0.7135258913040161,
        -0.15546582639217377,
        0.12153071910142899,
        0.3345752954483032,
        -0.9284180998802185,
        -0.16155345737934113,
        -0.9412598609924316,
        -0.33754944801330566,
        -0.009503424167633057
      ],
      "bottle_position_world": [
        0.16121076047420502,
        -0.11773598939180374,
        0.8377179503440857
      ],
      "bottle_quaternion_world": [
        0.9992862939834595,
        -3.112643753411248e-05,
        -3.7241414247546345e-05,
        0.03777601197361946
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.1,
      "clearance_m": -0.00024515390396118164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177009046077728,
      "action": [
        0.00022208690643310547,
        0.0004242546565365046,
        -0.00010769069194793701,
        6.894581019878387e-05,
        -3.524869680404663e-05,
        -0.0007870353874750435,
        0.9998406767845154
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149300456047058,
        0.9603530764579773,
        -1.5110621452331543,
        -1.4466161727905273,
        -0.764487087726593,
        0.9965987205505371,
        0.7135262489318848,
        -0.15546560287475586,
        0.1215304285287857,
        0.3345651924610138,
        -0.9284219145774841,
        -0.16155365109443665,
        -0.941263735294342,
        -0.33753928542137146,
        -0.009502880275249481
      ],
      "bottle_position_world": [
        0.1612177938222885,
        -0.11774008721113205,
        0.8377273082733154
      ],
      "bottle_quaternion_world": [
        0.9992861747741699,
        1.3831210708303843e-05,
        3.354525688337162e-05,
        0.03777698427438736
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.15,
      "clearance_m": -0.00024002790451049805,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176359355449677,
      "action": [
        0.00010316073894500732,
        0.0002734921872615814,
        -4.5165419578552246e-05,
        9.369105100631714e-07,
        -0.00015714019536972046,
        -0.0010672366479411721,
        0.9998405575752258
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149327874183655,
        0.9603585600852966,
        -1.51106858253479,
        -1.446615219116211,
        -0.7644733190536499,
        0.9965982437133789,
        0.7135264277458191,
        -0.15546536445617676,
        0.12153013795614243,
        0.3345528244972229,
        -0.9284265637397766,
        -0.16155216097831726,
        -0.9412684440612793,
        -0.33752647042274475,
        -0.009504038840532303
      ],
      "bottle_position_world": [
        0.16121108829975128,
        -0.11774490028619766,
        0.8377317190170288
      ],
      "bottle_quaternion_world": [
        0.9992861747741699,
        6.056503116269596e-05,
        -3.749250390683301e-05,
        0.037776969373226166
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.200000000000001,
      "clearance_m": -0.0002567172050476074,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177818179130554,
      "action": [
        6.805360317230225e-05,
        0.0003610215790104121,
        -4.902482032775879e-06,
        -0.00015853531658649445,
        -0.00030585378408432007,
        -0.0011833462631329894,
        0.9998406767845154
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149380326271057,
        0.9603687524795532,
        -1.5110794305801392,
        -1.446615219116211,
        -0.7644572854042053,
        0.9965987801551819,
        0.7135264277458191,
        -0.15546530485153198,
        0.12153002619743347,
        0.3345384895801544,
        -0.9284323453903198,
        -0.16154830157756805,
        -0.9412736296653748,
        -0.33751150965690613,
        -0.009505823254585266
      ],
      "bottle_position_world": [
        0.16121238470077515,
        -0.11774531751871109,
        0.8377161026000977
      ],
      "bottle_quaternion_world": [
        0.9992861747741699,
        6.502323958557099e-05,
        -2.4252898583654314e-05,
        0.03777819126844406
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.25,
      "clearance_m": -0.00023740530014038086,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176354885101318,
      "action": [
        9.562075138092041e-05,
        0.00034616515040397644,
        -0.00017915666103363037,
        -0.00013415701687335968,
        -1.12876296043396e-05,
        -0.0008545077871531248,
        0.9998407959938049
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149391651153564,
        0.9603731632232666,
        -1.5110851526260376,
        -1.446615219116211,
        -0.7644442915916443,
        0.9965987205505371,
        0.7135264873504639,
        -0.15546540915966034,
        0.12152913212776184,
        0.3345267176628113,
        -0.9284368753433228,
        -0.16154678165912628,
        -0.9412780404090881,
        -0.3374995291233063,
        -0.009505566209554672
      ],
      "bottle_position_world": [
        0.1612093150615692,
        -0.11773646622896194,
        0.8377346396446228
      ],
      "bottle_quaternion_world": [
        0.9992861747741699,
        -2.744574703683611e-05,
        -5.277430318528786e-05,
        0.03777816891670227
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.3,
      "clearance_m": -0.00025153160095214844,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617792397737503,
      "action": [
        0.00019943714141845703,
        0.00038826835225336254,
        6.277859210968018e-05,
        -2.1675601601600647e-05,
        -0.00034084171056747437,
        -0.0010757301934063435,
        0.999840497970581
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149430394172668,
        0.9603803753852844,
        -1.5110939741134644,
        -1.44661283493042,
        -0.7644305229187012,
        0.9965986609458923,
        0.7135269641876221,
        -0.15546497702598572,
        0.12152938544750214,
        0.33451443910598755,
        -0.9284417033195496,
        -0.16154468059539795,
        -0.9412825703620911,
        -0.33748647570610046,
        -0.009508855640888214
      ],
      "bottle_position_world": [
        0.16121457517147064,
        -0.11773163080215454,
        0.8377202153205872
      ],
      "bottle_quaternion_world": [
        0.9992861747741699,
        -7.548209396190941e-05,
        3.1504434900853084e-06,
        0.03777903690934181
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.35,
      "clearance_m": -0.000255584716796875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178159415721893,
      "action": [
        0.00031948089599609375,
        0.00035048648715019226,
        -9.660422801971436e-05,
        0.00015391968190670013,
        -0.00012367218732833862,
        -0.000864074332639575,
        0.999840497970581
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149433374404907,
        0.9603807926177979,
        -1.511096715927124,
        -1.4466099739074707,
        -0.7644193768501282,
        0.9965984225273132,
        0.7135278582572937,
        -0.15546438097953796,
        0.12152959406375885,
        0.33450424671173096,
        -0.9284453988075256,
        -0.16154523193836212,
        -0.9412864446640015,
        -0.33747586607933044,
        -0.009510910138487816
      ],
      "bottle_position_world": [
        0.16122913360595703,
        -0.11773765832185745,
        0.8377172350883484
      ],
      "bottle_quaternion_world": [
        0.9992861747741699,
        -6.914001005497994e-06,
        0.000149951025377959,
        0.037778519093990326
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.4,
      "clearance_m": -0.00026994943618774414,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178187727928162,
      "action": [
        0.00010469555854797363,
        8.90679657459259e-05,
        -0.0001560896635055542,
        0.00015036575496196747,
        0.00015742331743240356,
        -0.0009173608850687742,
        0.9998404383659363
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149423241615295,
        0.9603803753852844,
        -1.511096715927124,
        -1.4466090202331543,
        -0.7644082307815552,
        0.996598482131958,
        0.7135282158851624,
        -0.1554642766714096,
        0.12152901291847229,
        0.33449363708496094,
        -0.9284489154815674,
        -0.16154637932777405,
        -0.9412901401519775,
        -0.3374653458595276,
        -0.009509444236755371
      ],
      "bottle_position_world": [
        0.16120731830596924,
        -0.11774470657110214,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.9992861747741699,
        5.6607550504850224e-05,
        -7.678644033148885e-05,
        0.03777656331658363
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.450000000000001,
      "clearance_m": -0.00025969743728637695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617816686630249,
      "action": [
        8.980929851531982e-05,
        0.0004681534774135798,
        -0.00017686188220977783,
        -2.1047890186309814e-07,
        0.00013229995965957642,
        -0.0005617597489617765,
        0.9998409152030945
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149423241615295,
        0.960381031036377,
        -1.511096715927124,
        -1.4466090202331543,
        -0.7643985748291016,
        0.9965986609458923,
        0.7135279774665833,
        -0.15546417236328125,
        0.12152864784002304,
        0.3344845175743103,
        -0.92845219373703,
        -0.16154691576957703,
        -0.941293478012085,
        -0.33745649456977844,
        -0.009507380425930023
      ],
      "bottle_position_world": [
        0.16121648252010345,
        -0.1177450492978096,
        0.8377129435539246
      ],
      "bottle_quaternion_world": [
        0.9992862939834595,
        6.36459153611213e-05,
        1.7577915059519e-05,
        0.03777453303337097
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.5,
      "clearance_m": -0.0002582073211669922,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617840826511383,
      "action": [
        -8.642673492431641e-07,
        0.00027140602469444275,
        -0.0001827031373977661,
        2.9262155294418335e-06,
        0.00021023303270339966,
        -0.000511334219481796,
        0.9998407363891602
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149423241615295,
        0.960381031036377,
        -1.511096715927124,
        -1.4466090202331543,
        -0.7643908858299255,
        0.9965986609458923,
        0.7135279774665833,
        -0.15546417236328125,
        0.12152870744466782,
        0.3344772756099701,
        -0.9284547567367554,
        -0.1615469753742218,
        -0.9412960410118103,
        -0.3374493420124054,
        -0.009506138041615486
      ],
      "bottle_position_world": [
        0.16122247278690338,
        -0.11773587018251419,
        0.837714433670044
      ],
      "bottle_quaternion_world": [
        0.999286413192749,
        -2.7951153242611326e-05,
        8.349031850229949e-05,
        0.037772662937641144
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.55,
      "clearance_m": -0.00026547908782958984,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178524494171143,
      "action": [
        0.00012478232383728027,
        0.00022147968411445618,
        -0.00010859966278076172,
        0.00017073564231395721,
        0.00023076683282852173,
        -0.0005722799687646329,
        0.999840497970581
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149395823478699,
        0.9603779911994934,
        -1.511094331741333,
        -1.4466087818145752,
        -0.7643833756446838,
        0.9965986609458923,
        0.7135282158851624,
        -0.15546420216560364,
        0.12152811884880066,
        0.3344697654247284,
        -0.9284569025039673,
        -0.1615487039089203,
        -0.9412984848022461,
        -0.33744218945503235,
        -0.009503442794084549
      ],
      "bottle_position_world": [
        0.16122065484523773,
        -0.1177346408367157,
        0.8377134203910828
      ],
      "bottle_quaternion_world": [
        0.999286413192749,
        -4.130879096919671e-05,
        6.597695755772293e-05,
        0.03777088597416878
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.600000000000001,
      "clearance_m": -0.0002608299255371094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178664565086365,
      "action": [
        0.00016002357006072998,
        0.0002839528024196625,
        -0.00011138617992401123,
        0.0002303626388311386,
        0.00020373612642288208,
        -0.0005528190522454679,
        0.9998405575752258
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149366021156311,
        0.9603740572929382,
        -1.5110911130905151,
        -1.4466073513031006,
        -0.7643760442733765,
        0.996598482131958,
        0.7135288119316101,
        -0.1554640233516693,
        0.12152766436338425,
        0.3344624638557434,
        -0.9284591674804688,
        -0.16155122220516205,
        -0.9413009285926819,
        -0.337435245513916,
        -0.009501662105321884
      ],
      "bottle_position_world": [
        0.16121423244476318,
        -0.11773299425840378,
        0.837711751461029
      ],
      "bottle_quaternion_world": [
        0.9992865324020386,
        -6.070284507586621e-05,
        5.019413151785557e-07,
        0.03776879608631134
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.65,
      "clearance_m": -0.0002669692039489746,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177965700626373,
      "action": [
        0.00021508336067199707,
        0.0003943256742786616,
        -0.00013333559036254883,
        0.0002846401184797287,
        0.00014737993478775024,
        -0.0003972807608079165,
        0.9998406171798706
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149336218833923,
        0.9603703618049622,
        -1.5110883712768555,
        -1.4466049671173096,
        -0.7643702030181885,
        0.9965982437133789,
        0.7135294079780579,
        -0.1554635614156723,
        0.12152715027332306,
        0.3344566822052002,
        -0.9284608364105225,
        -0.16155439615249634,
        -0.9413031339645386,
        -0.33742961287498474,
        -0.009500928223133087
      ],
      "bottle_position_world": [
        0.16121496260166168,
        -0.11774557828903198,
        0.8377147316932678
      ],
      "bottle_quaternion_world": [
        0.9992866516113281,
        6.89369990141131e-05,
        3.092364977419493e-06,
        0.037766892462968826
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.700000000000001,
      "clearance_m": -0.0002580881118774414,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178423166275024,
      "action": [
        -3.726780414581299e-05,
        0.00031220540404319763,
        -0.00015693902969360352,
        7.246248424053192e-05,
        0.00013089925050735474,
        -0.00041689068893902004,
        0.9998407363891602
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149335622787476,
        0.9603716135025024,
        -1.5110883712768555,
        -1.4466049671173096,
        -0.7643642425537109,
        0.9965984225273132,
        0.713529109954834,
        -0.15546342730522156,
        0.12152636051177979,
        0.3344508111476898,
        -0.9284626841545105,
        -0.16155530512332916,
        -0.9413050413131714,
        -0.33742401003837585,
        -0.009498873725533485
      ],
      "bottle_position_world": [
        0.16121958196163177,
        -0.11773397773504257,
        0.8377146124839783
      ],
      "bottle_quaternion_world": [
        0.9992866516113281,
        -4.8120913561433554e-05,
        5.596110349870287e-05,
        0.03776492178440094
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.75,
      "clearance_m": -0.00024700164794921875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177132725715637,
      "action": [
        0.00014060735702514648,
        0.00027428194880485535,
        -9.663403034210205e-05,
        0.000240204855799675,
        0.00015632063150405884,
        -0.0004201391420792788,
        0.9998405575752258
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149311780929565,
        0.9603686332702637,
        -1.511085867881775,
        -1.446603536605835,
        -0.7643586993217468,
        0.9965986609458923,
        0.7135295271873474,
        -0.15546324849128723,
        0.12152589857578278,
        0.3344452381134033,
        -0.9284643530845642,
        -0.16155752539634705,
        -0.9413069486618042,
        -0.33741873502731323,
        -0.00949757732450962
      ],
      "bottle_position_world": [
        0.16121861338615417,
        -0.11773983389139175,
        0.8377261757850647
      ],
      "bottle_quaternion_world": [
        0.9992867708206177,
        1.1616388292168267e-05,
        4.3389554775785655e-05,
        0.03776323050260544
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.8,
      "clearance_m": -0.00025141239166259766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.161775141954422,
      "action": [
        1.8715858459472656e-05,
        0.00025286152958869934,
        4.380941390991211e-06,
        0.00010834448039531708,
        -6.546825170516968e-05,
        -0.0006948568625375628,
        0.999840497970581
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149327874183655,
        0.9603721499443054,
        -1.511088490486145,
        -1.4466021060943604,
        -0.7643498182296753,
        0.9965984225273132,
        0.7135292887687683,
        -0.15546265244483948,
        0.12152573466300964,
        0.33443695306777954,
        -0.9284670352935791,
        -0.1615583747625351,
        -0.9413098096847534,
        -0.3374103307723999,
        -0.009497709572315216
      ],
      "bottle_position_world": [
        0.1612098664045334,
        -0.11774064600467682,
        0.8377207517623901
      ],
      "bottle_quaternion_world": [
        0.9992867708206177,
        1.644853182369843e-05,
        -4.614306817529723e-05,
        0.037761811167001724
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.850000000000001,
      "clearance_m": -0.0002554655075073242,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177977621555328,
      "action": [
        8.654594421386719e-05,
        0.0003891251690220088,
        -6.079673767089844e-05,
        5.32250851392746e-05,
        -9.401887655258179e-05,
        -0.0005375602631829679,
        0.9998406171798706
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149343371391296,
        0.9603761434555054,
        -1.511092185974121,
        -1.4466015100479126,
        -0.7643417716026306,
        0.9965982437133789,
        0.7135291695594788,
        -0.15546239912509918,
        0.12152537703514099,
        0.33442947268486023,
        -0.9284698963165283,
        -0.161558136343956,
        -0.9413127303123474,
        -0.33740270137786865,
        -0.009497713297605515
      ],
      "bottle_position_world": [
        0.16120970249176025,
        -0.11773760616779327,
        0.8377168774604797
      ],
      "bottle_quaternion_world": [
        0.9992868900299072,
        -1.4859306247672066e-05,
        -4.6843390009598807e-05,
        0.037760116159915924
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.9,
      "clearance_m": -0.00024968385696411133,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617729663848877,
      "action": [
        0.00014284253120422363,
        0.00038820874760858715,
        -0.00010873377323150635,
        0.00013860873878002167,
        -2.928823232650757e-05,
        -0.0003463486209511757,
        0.9998406171798706
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149343371391296,
        0.9603766202926636,
        -1.511092185974121,
        -1.446600317955017,
        -0.7643365859985352,
        0.9965982437133789,
        0.7135292291641235,
        -0.1554621309041977,
        0.12152513861656189,
        0.33442455530166626,
        -0.9284716248512268,
        -0.16155919432640076,
        -0.9413145780563354,
        -0.33739784359931946,
        -0.009497294202446938
      ],
      "bottle_position_world": [
        0.16121764481067657,
        -0.11774013191461563,
        0.8377242088317871
      ],
      "bottle_quaternion_world": [
        0.9992868900299072,
        1.4236455172067508e-05,
        3.401857611606829e-05,
        0.03775886073708534
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 9.950000000000001,
      "clearance_m": -0.0002491474151611328,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177301108837128,
      "action": [
        3.096461296081543e-05,
        0.00022876635193824768,
        -4.531443119049072e-05,
        0.00010789744555950165,
        -6.382912397384644e-05,
        -0.0005349674611352384,
        0.9998404383659363
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149350523948669,
        0.9603796005249023,
        -1.5110936164855957,
        -1.4465993642807007,
        -0.7643300890922546,
        0.9965982437133789,
        0.7135288715362549,
        -0.15546178817749023,
        0.12152423709630966,
        0.3344181478023529,
        -0.9284735321998596,
        -0.16156059503555298,
        -0.9413167238235474,
        -0.33739158511161804,
        -0.00949622131884098
      ],
      "bottle_position_world": [
        0.16121037304401398,
        -0.11774119734764099,
        0.837722897529602
      ],
      "bottle_quaternion_world": [
        0.9992868900299072,
        2.2729942429577932e-05,
        -4.0998045733431354e-05,
        0.037759967148303986
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.0,
      "clearance_m": -0.0002301931381225586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16175436973571777,
      "action": [
        7.05420970916748e-05,
        0.0003574602014850825,
        -3.241002559661865e-05,
        5.3456053137779236e-05,
        -0.00011634081602096558,
        -0.00047718078712932765,
        0.9998405575752258
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149368405342102,
        0.9603834748268127,
        -1.5110974311828613,
        -1.446598768234253,
        -0.764323353767395,
        0.996598482131958,
        0.7135287523269653,
        -0.15546147525310516,
        0.12152417749166489,
        0.3344120681285858,
        -0.9284757375717163,
        -0.16155968606472015,
        -0.9413188695907593,
        -0.33738529682159424,
        -0.009496841579675674
      ],
      "bottle_position_world": [
        0.16121463477611542,
        -0.11774419993162155,
        0.837742269039154
      ],
      "bottle_quaternion_world": [
        0.9992868900299072,
        5.518845864571631e-05,
        1.1523331977514317e-06,
        0.03776061162352562
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.05,
      "clearance_m": -0.0002422332763671875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176734864711761,
      "action": [
        -4.623830318450928e-05,
        0.00021580234169960022,
        0.00014670193195343018,
        -9.693391621112823e-05,
        -0.00042384114931337535,
        -0.0009382522548548877,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149439930915833,
        0.9603952169418335,
        -1.5111089944839478,
        -1.446597695350647,
        -0.7643115520477295,
        0.996598482131958,
        0.7135283946990967,
        -0.15546095371246338,
        0.12152464687824249,
        0.33440202474594116,
        -0.9284802079200745,
        -0.16155585646629333,
        -0.941322922706604,
        -0.3373742699623108,
        -0.009500972926616669
      ],
      "bottle_position_world": [
        0.16120895743370056,
        -0.11773727089166641,
        0.8377302289009094
      ],
      "bottle_quaternion_world": [
        0.9992868900299072,
        -1.794240961316973e-05,
        -5.471954864333384e-05,
        0.03776027262210846
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.100000000000001,
      "clearance_m": -0.0002541542053222656,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178040206432343,
      "action": [
        0.00018486380577087402,
        0.00035409253905527294,
        4.346668720245361e-05,
        9.294599294662476e-07,
        -0.0003393217921257019,
        -0.0007344343466684222,
        0.9998403787612915
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149478673934937,
        0.9604021906852722,
        -1.5111174583435059,
        -1.4465960264205933,
        -0.7643017768859863,
        0.996598482131958,
        0.7135287523269653,
        -0.15546056628227234,
        0.12152501940727234,
        0.3343936502933502,
        -0.9284835457801819,
        -0.16155366599559784,
        -0.9413260817527771,
        -0.33736515045166016,
        -0.00950424000620842
      ],
      "bottle_position_world": [
        0.16121982038021088,
        -0.11773502826690674,
        0.8377183675765991
      ],
      "bottle_quaternion_world": [
        0.9992867708206177,
        -3.676254709716886e-05,
        5.707649324904196e-05,
        0.03776118904352188
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.15,
      "clearance_m": -0.0002512335777282715,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177955269813538,
      "action": [
        0.00017558038234710693,
        0.00018157437443733215,
        -0.00010213255882263184,
        0.0001638513058423996,
        1.1958181858062744e-05,
        -0.0005017974763177335,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.914947509765625,
        0.9604019522666931,
        -1.511117935180664,
        -1.446594476699829,
        -0.7642955780029297,
        0.9965984225273132,
        0.7135292291641235,
        -0.15546034276485443,
        0.12152491509914398,
        0.33438777923583984,
        -0.928485631942749,
        -0.1615544706583023,
        -0.9413282871246338,
        -0.33735916018486023,
        -0.009504538029432297
      ],
      "bottle_position_world": [
        0.1612137109041214,
        -0.11772699654102325,
        0.8377214670181274
      ],
      "bottle_quaternion_world": [
        0.9992867708206177,
        -0.0001211168200825341,
        -2.3641537154617254e-06,
        0.03776194900274277
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.200000000000001,
      "clearance_m": -0.00025010108947753906,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177335381507874,
      "action": [
        0.00031338632106781006,
        0.0003309883177280426,
        -1.8551945686340332e-05,
        0.0003537963784765452,
        -6.004422903060913e-05,
        -0.00040601284126751125,
        0.9998403787612915
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149453639984131,
        0.9603985548019409,
        -1.511117935180664,
        -1.446589708328247,
        -0.7642908096313477,
        0.9965982437133789,
        0.7135307192802429,
        -0.15545958280563354,
        0.12152497470378876,
        0.3343833386898041,
        -0.9284866452217102,
        -0.16155703365802765,
        -0.9413299560546875,
        -0.33735427260398865,
        -0.009507937356829643
      ],
      "bottle_position_world": [
        0.16121335327625275,
        -0.11774232983589172,
        0.8377224802970886
      ],
      "bottle_quaternion_world": [
        0.9992867708206177,
        3.5658598790178075e-05,
        -1.1783066838688683e-05,
        0.037761345505714417
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.25,
      "clearance_m": -0.00025093555450439453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617768257856369,
      "action": [
        1.7181038856506348e-05,
        0.00027043744921684265,
        -6.525218486785889e-05,
        0.00011459551751613617,
        -5.169957876205444e-05,
        -0.00041689068893902004,
        0.999840497970581
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149461984634399,
        0.960402250289917,
        -1.5111196041107178,
        -1.4465889930725098,
        -0.7642854452133179,
        0.9965980648994446,
        0.7135301828384399,
        -0.15545903146266937,
        0.12152406573295593,
        0.3343782126903534,
        -0.9284883141517639,
        -0.16155840456485748,
        -0.941331684589386,
        -0.3373493254184723,
        -0.009506676346063614
      ],
      "bottle_position_world": [
        0.1612156182527542,
        -0.11773629486560822,
        0.8377212285995483
      ],
      "bottle_quaternion_world": [
        0.9992867708206177,
        -2.5610577722545713e-05,
        1.3780768313154113e-05,
        0.03776153549551964
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.3,
      "clearance_m": -0.0002510547637939453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177353262901306,
      "action": [
        0.00010851025581359863,
        0.00024383142590522766,
        -3.8251280784606934e-05,
        0.00018083862960338593,
        3.1068921089172363e-06,
        -0.0003764489374589175,
        0.9998404383659363
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149461984634399,
        0.9604026079177856,
        -1.5111196041107178,
        -1.4465875625610352,
        -0.7642809748649597,
        0.9965986609458923,
        0.7135303020477295,
        -0.15545861423015594,
        0.12152407318353653,
        0.33437380194664,
        -0.9284896850585938,
        -0.1615598499774933,
        -0.9413332939147949,
        -0.3373449146747589,
        -0.009506767615675926
      ],
      "bottle_position_world": [
        0.16120585799217224,
        -0.11774113029241562,
        0.8377218246459961
      ],
      "bottle_quaternion_world": [
        0.9992867708206177,
        2.0101822883589193e-05,
        -8.870472083799541e-05,
        0.03776122257113457
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.350000000000001,
      "clearance_m": -0.00023740530014038086,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176217794418335,
      "action": [
        7.179379463195801e-05,
        0.0003865994221996516,
        -4.1812658309936523e-05,
        8.365325629711151e-05,
        -8.647888898849487e-05,
        -0.0002711573615670204,
        0.9998405575752258
      ],
      "proprioception": [
        -3.554445743560791,
        -0.914946973323822,
        0.9604054689407349,
        -1.5111212730407715,
        -1.446587085723877,
        -0.7642766833305359,
        0.9965981841087341,
        0.7135299444198608,
        -0.15545831620693207,
        0.1215234100818634,
        0.33436962962150574,
        -0.9284909963607788,
        -0.16156060993671417,
        -0.9413347244262695,
        -0.3373408615589142,
        -0.009506084024906158
      ],
      "bottle_position_world": [
        0.1612149029970169,
        -0.11773823946714401,
        0.8377361297607422
      ],
      "bottle_quaternion_world": [
        0.9992867708206177,
        -6.0271131587796845e-06,
        5.611425422102911e-06,
        0.037761490792036057
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.4,
      "clearance_m": -0.00021904706954956055,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16173821687698364,
      "action": [
        4.363059997558594e-05,
        0.0001951940357685089,
        0.00010822713375091553,
        7.155351340770721e-05,
        -0.0002771839499473572,
        -0.0006239869981072843,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149506688117981,
        0.9604110717773438,
        -1.5111273527145386,
        -1.446584939956665,
        -0.7642691135406494,
        0.9965983629226685,
        0.7135301232337952,
        -0.15545786917209625,
        0.12152384221553802,
        0.3343631327152252,
        -0.9284935593605042,
        -0.1615592986345291,
        -0.9413372874259949,
        -0.33733367919921875,
        -0.009509338065981865
      ],
      "bottle_position_world": [
        0.1612137109041214,
        -0.11774463206529617,
        0.8377593159675598
      ],
      "bottle_quaternion_world": [
        0.9992867708206177,
        5.9034235164290294e-05,
        -9.030222827277612e-06,
        0.03776149824261665
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.450000000000001,
      "clearance_m": -0.00023126602172851562,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16175641119480133,
      "action": [
        -7.006525993347168e-05,
        0.00014330819249153137,
        0.0003301650285720825,
        -0.00020535476505756378,
        -0.0007390602258965373,
        -0.001290306681767106,
        0.9998400807380676
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149617552757263,
        0.9604286551475525,
        -1.5111455917358398,
        -1.4465829133987427,
        -0.7642534971237183,
        0.9965984225273132,
        0.7135300040245056,
        -0.15545712411403656,
        0.12152515351772308,
        0.33435001969337463,
        -0.9284994006156921,
        -0.16155293583869934,
        -0.9413424730300903,
        -0.33731895685195923,
        -0.009516667574644089
      ],
      "bottle_position_world": [
        0.16121409833431244,
        -0.11774362623691559,
        0.8377402424812317
      ],
      "bottle_quaternion_world": [
        0.9992867708206177,
        4.885344606009312e-05,
        -4.698749762610532e-06,
        0.037761762738227844
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.5,
      "clearance_m": -0.0002536177635192871,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.161777064204216,
      "action": [
        4.9620866775512695e-05,
        0.00014802441000938416,
        0.00011076033115386963,
        -0.00022507645189762115,
        -0.00045569983194582164,
        -0.0010893498547375202,
        0.9998401999473572
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149683117866516,
        0.9604393839836121,
        -1.5111576318740845,
        -1.4465829133987427,
        -0.7642399668693542,
        0.9965984225273132,
        0.7135298848152161,
        -0.15545719861984253,
        0.12152574956417084,
        0.3343384861946106,
        -0.9285044074058533,
        -0.1615474373102188,
        -0.941347062587738,
        -0.337306410074234,
        -0.00952024944126606
      ],
      "bottle_position_world": [
        0.16121917963027954,
        -0.11774231493473053,
        0.837719202041626
      ],
      "bottle_quaternion_world": [
        0.9992867708206177,
        3.700544039020315e-05,
        4.7869431000435725e-05,
        0.03776351362466812
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.55,
      "clearance_m": -0.00025773048400878906,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177476942539215,
      "action": [
        7.101893424987793e-05,
        9.209290146827698e-05,
        -0.0001122504472732544,
        -7.748045027256012e-05,
        7.26059079170227e-05,
        -0.0005858102231286466,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149686098098755,
        0.960439920425415,
        -1.5111582279205322,
        -1.4465829133987427,
        -0.7642316222190857,
        0.996598482131958,
        0.7135298252105713,
        -0.15545713901519775,
        0.12152563035488129,
        0.33433061838150024,
        -0.9285072684288025,
        -0.16154739260673523,
        -0.9413497447967529,
        -0.3372986614704132,
        -0.009519010782241821
      ],
      "bottle_position_world": [
        0.16122256219387054,
        -0.11774508655071259,
        0.837721049785614
      ],
      "bottle_quaternion_world": [
        0.9992866516113281,
        6.695056799799204e-05,
        8.218675793614239e-05,
        0.037764906883239746
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.600000000000001,
      "clearance_m": -0.00025784969329833984,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178180277347565,
      "action": [
        -5.549192428588867e-05,
        3.33152711391449e-05,
        -6.614625453948975e-05,
        -4.9831345677375793e-05,
        0.00020203739404678345,
        -0.0004966714768670499,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149686098098755,
        0.960439920425415,
        -1.5111582279205322,
        -1.4465829133987427,
        -0.7642247676849365,
        0.996598482131958,
        0.7135298252105713,
        -0.15545712411403656,
        0.12152563035488129,
        0.3343242406845093,
        -0.9285097122192383,
        -0.16154745221138,
        -0.9413521885871887,
        -0.3372923731803894,
        -0.009517902508378029
      ],
      "bottle_position_world": [
        0.16122254729270935,
        -0.11774126440286636,
        0.8377149105072021
      ],
      "bottle_quaternion_world": [
        0.9992866516113281,
        2.7487994884722866e-05,
        8.342539513250813e-05,
        0.037766650319099426
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.65,
      "clearance_m": -0.0002593994140625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178308427333832,
      "action": [
        6.3478946685791016e-06,
        8.900836110115051e-05,
        -7.306039333343506e-05,
        5.4156407713890076e-05,
        0.00033045560121536255,
        -0.0003133276477456093,
        0.9998403787612915
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149656295776367,
        0.9604355096817017,
        -1.5111531019210815,
        -1.4465829133987427,
        -0.7642201781272888,
        0.9965987205505371,
        0.7135298252105713,
        -0.15545709431171417,
        0.12152521312236786,
        0.33431923389434814,
        -0.9285110235214233,
        -0.1615501195192337,
        -0.9413536787033081,
        -0.33728793263435364,
        -0.009514594450592995
      ],
      "bottle_position_world": [
        0.16120871901512146,
        -0.11773770302534103,
        0.8377131819725037
      ],
      "bottle_quaternion_world": [
        0.9992865324020386,
        -1.3807908544549718e-05,
        -5.7502154959365726e-05,
        0.037768714129924774
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.700000000000001,
      "clearance_m": -0.0002497434616088867,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177257895469666,
      "action": [
        0.0001316070556640625,
        0.0003424249589443207,
        -7.545948028564453e-05,
        0.0001514982432126999,
        0.00021518021821975708,
        -9.582377970218658e-06,
        0.9998405575752258
      ],
      "proprioception": [
        -3.554445743560791,
        -0.914962887763977,
        0.9604308605194092,
        -1.51114821434021,
        -1.4465829133987427,
        -0.7642187476158142,
        0.9965984225273132,
        0.7135300040245056,
        -0.15545709431171417,
        0.12152509391307831,
        0.33431756496429443,
        -0.9285111427307129,
        -0.16155214607715607,
        -0.9413540363311768,
        -0.33728668093681335,
        -0.009512320160865784
      ],
      "bottle_position_world": [
        0.16121697425842285,
        -0.11774332821369171,
        0.8377233743667603
      ],
      "bottle_quaternion_world": [
        0.999286413192749,
        4.685543171945028e-05,
        2.546498944866471e-05,
        0.03777048736810684
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.75,
      "clearance_m": -0.0002542734146118164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177621483802795,
      "action": [
        -4.7087669372558594e-05,
        0.00015664473176002502,
        -2.4124979972839355e-05,
        7.30510801076889e-05,
        9.284168481826782e-05,
        -0.00021545682102441788,
        0.9998403787612915
      ],
      "proprioception": [
        -3.554445743560791,
        -0.914962649345398,
        0.9604306221008301,
        -1.51114821434021,
        -1.4465829133987427,
        -0.7642156481742859,
        0.9965981245040894,
        0.7135300040245056,
        -0.15545709431171417,
        0.12152497470378876,
        0.33431464433670044,
        -0.928512454032898,
        -0.1615520715713501,
        -0.9413553476333618,
        -0.33728381991386414,
        -0.009511731564998627
      ],
      "bottle_position_world": [
        0.1612110435962677,
        -0.11774507910013199,
        0.83771812915802
      ],
      "bottle_quaternion_world": [
        0.999286413192749,
        6.212600419530645e-05,
        -3.6113728128839284e-05,
        0.03777189552783966
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.8,
      "clearance_m": -0.00024074316024780273,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176533699035645,
      "action": [
        -1.5854835510253906e-05,
        0.000273924320936203,
        -6.48796558380127e-05,
        2.141110599040985e-05,
        0.00011561065912246704,
        -9.243283420801163e-05,
        0.999840497970581
      ],
      "proprioception": [
        -3.554445743560791,
        -0.914962649345398,
        0.9604306221008301,
        -1.51114821434021,
        -1.4465829133987427,
        -0.7642132043838501,
        0.996598482131958,
        0.7135300040245056,
        -0.15545709431171417,
        0.12152497470378876,
        0.3343122899532318,
        -0.9285132884979248,
        -0.16155211627483368,
        -0.9413561820983887,
        -0.3372814953327179,
        -0.009511342272162437
      ],
      "bottle_position_world": [
        0.16121497750282288,
        -0.1177387610077858,
        0.8377325534820557
      ],
      "bottle_quaternion_world": [
        0.999286413192749,
        -1.0186982990489923e-06,
        6.609983302041655e-06,
        0.037773244082927704
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.850000000000001,
      "clearance_m": -0.0002505779266357422,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177769005298615,
      "action": [
        3.4809112548828125e-05,
        0.00018235668540000916,
        9.274482727050781e-05,
        7.627718150615692e-05,
        -0.0001263245940208435,
        -0.0003911414823960513,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149642586708069,
        0.9604336023330688,
        -1.5111498832702637,
        -1.446582317352295,
        -0.7642082571983337,
        0.9965984225273132,
        0.7135297060012817,
        -0.1554567813873291,
        0.12152497470378876,
        0.33430778980255127,
        -0.928514838218689,
        -0.16155242919921875,
        -0.9413577318191528,
        -0.3372769355773926,
        -0.009511198848485947
      ],
      "bottle_position_world": [
        0.1612207293510437,
        -0.11773411184549332,
        0.8377217054367065
      ],
      "bottle_quaternion_world": [
        0.999286413192749,
        -4.686058309744112e-05,
        6.805855082347989e-05,
        0.03777284547686577
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.9,
      "clearance_m": -0.00022107362747192383,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16174714267253876,
      "action": [
        0.00014835596084594727,
        0.00013330206274986267,
        -2.460181713104248e-05,
        0.00021192245185375214,
        4.497915506362915e-05,
        -0.0003150859847664833,
        0.9998401999473572
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149628281593323,
        0.9604310393333435,
        -1.511149287223816,
        -1.4465806484222412,
        -0.7642046809196472,
        0.9965983629226685,
        0.7135304808616638,
        -0.15545664727687836,
        0.12152505666017532,
        0.3343043327331543,
        -0.9285157322883606,
        -0.1615533083677292,
        -0.9413589239120483,
        -0.33727332949638367,
        -0.009512124583125114
      ],
      "bottle_position_world": [
        0.16121366620063782,
        -0.11773931235074997,
        0.8377516865730286
      ],
      "bottle_quaternion_world": [
        0.999286413192749,
        3.7340662402129965e-06,
        -6.7482346821634565e-06,
        0.03777275234460831
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 10.950000000000001,
      "clearance_m": -0.00021535158157348633,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617436707019806,
      "action": [
        1.8790364265441895e-05,
        0.0001719929277896881,
        0.00026598572731018066,
        3.335997462272644e-06,
        -0.0005278214230202138,
        -0.000902221305295825,
        0.9998400807380676
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149695634841919,
        0.9604412317276001,
        -1.5111595392227173,
        -1.4465771913528442,
        -0.7641947269439697,
        0.9965984225273132,
        0.7135304808616638,
        -0.15545566380023956,
        0.12152596563100815,
        0.3342958688735962,
        -0.9285192489624023,
        -0.1615513265132904,
        -0.9413623809814453,
        -0.3372637927532196,
        -0.009517814964056015
      ],
      "bottle_position_world": [
        0.1612168848514557,
        -0.1177377924323082,
        0.837756335735321
      ],
      "bottle_quaternion_world": [
        0.999286413192749,
        -1.0607325748424046e-05,
        2.7262365620117635e-05,
        0.03777279332280159
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.0,
      "clearance_m": -0.00025600194931030273,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177469491958618,
      "action": [
        7.864832878112793e-05,
        7.530674338340759e-05,
        0.00028383731842041016,
        -9.438581764698029e-05,
        -0.0007001979975029826,
        -0.0012263808166608214,
        0.9998399019241333
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149781465530396,
        0.9604548811912537,
        -1.5111749172210693,
        -1.4465734958648682,
        -0.7641807198524475,
        0.9965984225273132,
        0.713530957698822,
        -0.15545465052127838,
        0.12152700126171112,
        0.3342841863632202,
        -0.9285243153572083,
        -0.1615469604730606,
        -0.9413670301437378,
        -0.3372505009174347,
        -0.009525591507554054
      ],
      "bottle_position_world": [
        0.1612100601196289,
        -0.1177372857928276,
        0.8377224802970886
      ],
      "bottle_quaternion_world": [
        0.9992862939834595,
        -1.8167203961638734e-05,
        -4.276604522601701e-05,
        0.03777408227324486
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.05,
      "clearance_m": -0.0002598762512207031,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178277134895325,
      "action": [
        0.00022539496421813965,
        0.00022868439555168152,
        -9.37432050704956e-05,
        2.020411193370819e-05,
        -0.00015457719564437866,
        -0.0004814723215531558,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149786233901978,
        0.960456907749176,
        -1.511178970336914,
        -1.4465733766555786,
        -0.7641739249229431,
        0.9965987801551819,
        0.7135314345359802,
        -0.1554548442363739,
        0.12152665108442307,
        0.3342779874801636,
        -0.9285266399383545,
        -0.1615455150604248,
        -0.9413691759109497,
        -0.33724406361579895,
        -0.009526427835226059
      ],
      "bottle_position_world": [
        0.16122187674045563,
        -0.11774374544620514,
        0.8377128839492798
      ],
      "bottle_quaternion_world": [
        0.9992862939834595,
        5.194202094571665e-05,
        7.560062658740208e-05,
        0.03777582570910454
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.100000000000001,
      "clearance_m": -0.00025957822799682617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178500652313232,
      "action": [
        -1.1071562767028809e-05,
        2.2951513528823853e-05,
        -0.00020797550678253174,
        7.041357457637787e-05,
        0.00031466037034988403,
        -0.00014440808445215225,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149760007858276,
        0.9604533314704895,
        -1.5111747980117798,
        -1.4465733766555786,
        -0.764171838760376,
        0.9965982437133789,
        0.7135313749313354,
        -0.1554548591375351,
        0.12152623385190964,
        0.33427563309669495,
        -0.9285272359848022,
        -0.1615476906299591,
        -0.9413700699806213,
        -0.3372421860694885,
        -0.009523628279566765
      ],
      "bottle_position_world": [
        0.1612141728401184,
        -0.11773432046175003,
        0.8377130031585693
      ],
      "bottle_quaternion_world": [
        0.9992861747741699,
        -4.756467751576565e-05,
        8.557782962270721e-07,
        0.03777780383825302
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.15,
      "clearance_m": -0.00025904178619384766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617846041917801,
      "action": [
        0.0001455247402191162,
        0.00022112950682640076,
        -9.979307651519775e-05,
        0.0002614017575979233,
        0.0003065541386604309,
        8.152332156896591e-05,
        0.9998403787612915
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149712324142456,
        0.9604458808898926,
        -1.5111671686172485,
        -1.4465733766555786,
        -0.764171838760376,
        0.9965987205505371,
        0.7135315537452698,
        -0.15545497834682465,
        0.12152570486068726,
        0.3342748284339905,
        -0.9285268783569336,
        -0.1615511178970337,
        -0.9413701891899109,
        -0.33724209666252136,
        -0.009519930928945541
      ],
      "bottle_position_world": [
        0.16120900213718414,
        -0.11773252487182617,
        0.8377134799957275
      ],
      "bottle_quaternion_world": [
        0.9992860555648804,
        -6.782178388675675e-05,
        -5.110028723720461e-05,
        0.03777993842959404
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.200000000000001,
      "clearance_m": -0.0002601742744445801,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177982091903687,
      "action": [
        0.00018984079360961914,
        0.00033393874764442444,
        -9.490549564361572e-05,
        0.00035480220685712993,
        0.00019840151071548462,
        0.00023271050304174423,
        0.9998404383659363
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149669408798218,
        0.960439145565033,
        -1.511160135269165,
        -1.4465713500976562,
        -0.7641741037368774,
        0.9965981245040894,
        0.713532030582428,
        -0.15545451641082764,
        0.12152525037527084,
        0.33427634835243225,
        -0.9285255074501038,
        -0.16155554354190826,
        -0.9413692951202393,
        -0.33724406361579895,
        -0.009518615901470184
      ],
      "bottle_position_world": [
        0.16120611131191254,
        -0.11774823069572449,
        0.8377125263214111
      ],
      "bottle_quaternion_world": [
        0.9992860555648804,
        9.233196033164859e-05,
        -8.58916318975389e-05,
        0.03778231143951416
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.25,
      "clearance_m": -0.00026035308837890625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178126633167267,
      "action": [
        -8.374452590942383e-05,
        0.00031199678778648376,
        -0.00017277896404266357,
        0.00010692141950130463,
        0.0002086535096168518,
        0.0003345152363181114,
        0.9998406171798706
      ],
      "proprioception": [
        -3.554445743560791,
        -0.914966344833374,
        0.9604386687278748,
        -1.5111584663391113,
        -1.4465713500976562,
        -0.7641770839691162,
        0.9965982437133789,
        0.7135316729545593,
        -0.15545445680618286,
        0.1215251162648201,
        0.3342788517475128,
        -0.9285246133804321,
        -0.16155672073364258,
        -0.9413685202598572,
        -0.337246835231781,
        -0.009517654776573181
      ],
      "bottle_position_world": [
        0.1612212210893631,
        -0.11774960905313492,
        0.837712287902832
      ],
      "bottle_quaternion_world": [
        0.9992859363555908,
        0.00011167858610861003,
        6.8002482294105e-05,
        0.03778480365872383
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.3,
      "clearance_m": -0.0002607107162475586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177944839000702,
      "action": [
        -0.00020745396614074707,
        4.715844988822937e-05,
        -0.00015081465244293213,
        4.651956260204315e-05,
        0.00041029599378816783,
        0.00020225252956151962,
        0.9998404383659363
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149641394615173,
        0.960435152053833,
        -1.511151909828186,
        -1.4465714693069458,
        -0.7641789317131042,
        0.9965984225273132,
        0.7135310769081116,
        -0.15545420348644257,
        0.12152456492185593,
        0.33427977561950684,
        -0.928523600101471,
        -0.1615600883960724,
        -0.9413679242134094,
        -0.33724847435951233,
        -0.009514201432466507
      ],
      "bottle_position_world": [
        0.1612139642238617,
        -0.11775337904691696,
        0.8377119898796082
      ],
      "bottle_quaternion_world": [
        0.9992858171463013,
        0.00014785557868890464,
        -7.188929885160178e-06,
        0.037787385284900665
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.350000000000001,
      "clearance_m": -0.00026679039001464844,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617828607559204,
      "action": [
        -0.00023376941680908203,
        0.00016469880938529968,
        -0.00011233985424041748,
        -8.171983063220978e-05,
        0.0003887489147018641,
        0.00022168364375829697,
        0.9998406171798706
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149633049964905,
        0.9604337215423584,
        -1.5111477375030518,
        -1.4465737342834473,
        -0.7641792893409729,
        0.9965983629226685,
        0.7135300636291504,
        -0.15545441210269928,
        0.12152429670095444,
        0.3342796862125397,
        -0.9285234808921814,
        -0.16156120598316193,
        -0.9413677453994751,
        -0.33724910020828247,
        -0.009509971365332603
      ],
      "bottle_position_world": [
        0.1612245738506317,
        -0.11774599552154541,
        0.837712287902832
      ],
      "bottle_quaternion_world": [
        0.9992856979370117,
        7.562040264019743e-05,
        0.00010416955046821386,
        0.037789881229400635
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.4,
      "clearance_m": -0.0002605915069580078,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178034245967865,
      "action": [
        -0.0001591891050338745,
        9.324401617050171e-06,
        -8.194148540496826e-05,
        3.462843596935272e-05,
        0.0004561319656204432,
        0.00012181606143712997,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149603247642517,
        0.9604280591011047,
        -1.5111396312713623,
        -1.4465742111206055,
        -0.7641794681549072,
        0.9965984225273132,
        0.7135295867919922,
        -0.15545426309108734,
        0.12152440845966339,
        0.33427903056144714,
        -0.928523063659668,
        -0.16156430542469025,
        -0.9413676261901855,
        -0.337249219417572,
        -0.009505845606327057
      ],
      "bottle_position_world": [
        0.16122087836265564,
        -0.11775286495685577,
        0.8377120494842529
      ],
      "bottle_quaternion_world": [
        0.9992856979370117,
        0.0001447887480026111,
        6.383236905094236e-05,
        0.03779253363609314
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.450000000000001,
      "clearance_m": -0.00026047229766845703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177962720394135,
      "action": [
        -0.00024753808975219727,
        5.874410271644592e-05,
        -9.913742542266846e-05,
        -8.34483653306961e-05,
        0.00043425706098787487,
        0.00010727252811193466,
        0.999840497970581
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149588942527771,
        0.9604249000549316,
        -1.5111333131790161,
        -1.446576476097107,
        -0.7641794681549072,
        0.9965984225273132,
        0.7135285139083862,
        -0.15545453131198883,
        0.12152401357889175,
        0.33427852392196655,
        -0.9285229444503784,
        -0.16156594455242157,
        -0.9413676261901855,
        -0.3372495770454407,
        -0.00950063019990921
      ],
      "bottle_position_world": [
        0.16120806336402893,
        -0.1177506148815155,
        0.8377121090888977
      ],
      "bottle_quaternion_world": [
        0.9992855787277222,
        0.00011739289038814604,
        -6.677107012365013e-05,
        0.037795159965753555
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.5,
      "clearance_m": -0.0002613067626953125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178295016288757,
      "action": [
        -0.00012862682342529297,
        0.00027815625071525574,
        -8.906424045562744e-05,
        -9.350664913654327e-05,
        0.00028408318758010864,
        0.0002964576706290245,
        0.9998406171798706
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149584174156189,
        0.9604238271713257,
        -1.5111302137374878,
        -1.4465781450271606,
        -0.7641804218292236,
        0.9965986609458923,
        0.7135277986526489,
        -0.1554548144340515,
        0.12152404338121414,
        0.33427894115448,
        -0.9285225868225098,
        -0.16156628727912903,
        -0.9413672089576721,
        -0.3372504711151123,
        -0.009497951716184616
      ],
      "bottle_position_world": [
        0.16120018064975739,
        -0.11774038523435593,
        0.8377113342285156
      ],
      "bottle_quaternion_world": [
        0.9992854595184326,
        9.850140486378223e-06,
        -0.00014425104018300772,
        0.03779791668057442
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.55,
      "clearance_m": -0.00026029348373413086,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178745031356812,
      "action": [
        0.00010569393634796143,
        0.00043698769877664745,
        -9.94950532913208e-05,
        0.00011759810149669647,
        0.00013206154108047485,
        0.0005353232263587415,
        0.9998405575752258
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149560332298279,
        0.960420548915863,
        -1.511127233505249,
        -1.4465781450271606,
        -0.7641847133636475,
        0.996598482131958,
        0.713528037071228,
        -0.15545490384101868,
        0.12152369320392609,
        0.33428266644477844,
        -0.9285210371017456,
        -0.16156761348247528,
        -0.9413657188415527,
        -0.33725443482398987,
        -0.00949709303677082
      ],
      "bottle_position_world": [
        0.16120803356170654,
        -0.11772697418928146,
        0.8377123475074768
      ],
      "bottle_quaternion_world": [
        0.9992853403091431,
        -0.00012490527296904474,
        -5.92963260714896e-05,
        0.03780053183436394
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.600000000000001,
      "clearance_m": -0.0002599358558654785,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178849339485168,
      "action": [
        0.0003032982349395752,
        0.000357996643288061,
        -9.070336818695068e-05,
        0.00047009249101392925,
        8.813291788101196e-05,
        0.0005561848520301282,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149511456489563,
        0.9604126811027527,
        -1.5111202001571655,
        -1.446574330329895,
        -0.7641916275024414,
        0.9965984225273132,
        0.7135290503501892,
        -0.1554541289806366,
        0.12152361124753952,
        0.3342885673046112,
        -0.9285179972648621,
        -0.16157306730747223,
        -0.9413636326789856,
        -0.33726054430007935,
        -0.00949791632592678
      ],
      "bottle_position_world": [
        0.16122286021709442,
        -0.11772758513689041,
        0.8377127647399902
      ],
      "bottle_quaternion_world": [
        0.9992852210998535,
        -0.00011325608647894114,
        9.210780990542844e-05,
        0.03780312091112137
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.65,
      "clearance_m": -0.00026679039001464844,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178858280181885,
      "action": [
        0.00020447373390197754,
        0.00012476369738578796,
        -0.00011040270328521729,
        0.0005758683546446264,
        0.00019586831331253052,
        0.00034390296787023544,
        0.9998400807380676
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149450063705444,
        0.9604028463363647,
        -1.5111104249954224,
        -1.4465693235397339,
        -0.764197587966919,
        0.9965982437133789,
        0.7135299444198608,
        -0.15545301139354706,
        0.12152311205863953,
        0.33429303765296936,
        -0.9285149574279785,
        -0.16158068180084229,
        -0.9413618445396423,
        -0.3372654318809509,
        -0.009497897699475288
      ],
      "bottle_position_world": [
        0.16122256219387054,
        -0.11772839725017548,
        0.8377123475074768
      ],
      "bottle_quaternion_world": [
        0.999285101890564,
        -0.00010502839722903445,
        8.872155740391463e-05,
        0.03780556470155716
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.700000000000001,
      "clearance_m": -0.0002605319023132324,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178373992443085,
      "action": [
        0.00017622113227844238,
        0.00013728067278862,
        -9.424984455108643e-05,
        0.0005623530014418066,
        0.00022036582231521606,
        0.0002544065937399864,
        0.9998401999473572
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149399995803833,
        0.9603945016860962,
        -1.5111018419265747,
        -1.4465645551681519,
        -0.7642019391059875,
        0.9965984225273132,
        0.7135307788848877,
        -0.15545187890529633,
        0.12152308970689774,
        0.33429625630378723,
        -0.9285127520561218,
        -0.1615877002477646,
        -0.941360592842102,
        -0.33726897835731506,
        -0.009498266503214836
      ],
      "bottle_position_world": [
        0.16120626032352448,
        -0.11773841083049774,
        0.8377119302749634
      ],
      "bottle_quaternion_world": [
        0.999285101890564,
        -8.004411938600242e-06,
        -8.287296077469364e-05,
        0.03780791908502579
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.75,
      "clearance_m": -0.000260770320892334,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178302466869354,
      "action": [
        6.556510925292969e-05,
        0.000356923759682104,
        -0.00012572109699249268,
        0.00033192895352840424,
        0.00010073930025100708,
        0.0004010339907836169,
        0.9998405575752258
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149376153945923,
        0.9603913426399231,
        -1.5110981464385986,
        -1.4465627670288086,
        -0.7642062902450562,
        0.9965984225273132,
        0.7135308980941772,
        -0.15545138716697693,
        0.12152256816625595,
        0.3342999219894409,
        -0.9285109043121338,
        -0.16159097850322723,
        -0.9413594007492065,
        -0.33727291226387024,
        -0.009497910737991333
      ],
      "bottle_position_world": [
        0.16122135519981384,
        -0.11774545907974243,
        0.8377119302749634
      ],
      "bottle_quaternion_world": [
        0.9992849826812744,
        6.97663490427658e-05,
        6.986947119003162e-05,
        0.037810273468494415
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.8,
      "clearance_m": -0.00025719404220581055,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177940368652344,
      "action": [
        -0.0001650303602218628,
        4.439428448677063e-05,
        -0.00015248358249664307,
        0.00017300061881542206,
        0.0002830401062965393,
        0.0002856692299246788,
        0.9998403787612915
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149357676506042,
        0.9603886008262634,
        -1.5110926628112793,
        -1.4465627670288086,
        -0.7642102837562561,
        0.9965982437133789,
        0.7135303020477295,
        -0.1554512083530426,
        0.12152200937271118,
        0.3343028426170349,
        -0.9285092949867249,
        -0.16159380972385406,
        -0.9413580298423767,
        -0.337276428937912,
        -0.00949518196284771
      ],
      "bottle_position_world": [
        0.16120922565460205,
        -0.1177426427602768,
        0.8377153873443604
      ],
      "bottle_quaternion_world": [
        0.9992848634719849,
        3.621031646616757e-05,
        -5.368413985706866e-05,
        0.037812281399965286
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.850000000000001,
      "clearance_m": -0.0002492070198059082,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177287697792053,
      "action": [
        -5.440413951873779e-05,
        0.00025961920619010925,
        -5.348026752471924e-05,
        0.00012045912444591522,
        0.00013072043657302856,
        0.00030313339084386826,
        0.999840497970581
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149355292320251,
        0.9603878259658813,
        -1.5110907554626465,
        -1.4465627670288086,
        -0.7642132639884949,
        0.9965982437133789,
        0.7135300040245056,
        -0.1554509997367859,
        0.12152200937271118,
        0.3343055546283722,
        -0.9285082221031189,
        -0.16159483790397644,
        -0.9413571357727051,
        -0.3372792899608612,
        -0.009494714438915253
      ],
      "bottle_position_world": [
        0.16121192276477814,
        -0.1177399531006813,
        0.8377236723899841
      ],
      "bottle_quaternion_world": [
        0.9992848634719849,
        9.325924111180939e-06,
        -2.538429544074461e-05,
        0.037813808768987656
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.9,
      "clearance_m": -0.00023871660232543945,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176174581050873,
      "action": [
        -3.3974647521972656e-05,
        0.0001869983971118927,
        2.4631619453430176e-05,
        0.00011093728244304657,
        -4.523247480392456e-05,
        0.00010530557483434677,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149357080459595,
        0.9603891968727112,
        -1.5110907554626465,
        -1.4465627670288086,
        -0.7642137408256531,
        0.996598482131958,
        0.7135295271873474,
        -0.15545085072517395,
        0.12152151763439178,
        0.3343057930469513,
        -0.9285079836845398,
        -0.16159570217132568,
        -0.941356897354126,
        -0.33727964758872986,
        -0.009493954479694366
      ],
      "bottle_position_world": [
        0.16121509671211243,
        -0.11774444580078125,
        0.8377343416213989
      ],
      "bottle_quaternion_world": [
        0.9992847442626953,
        5.671213148161769e-05,
        4.965591870131902e-06,
        0.03781486675143242
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 11.950000000000001,
      "clearance_m": -0.0002474188804626465,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177192330360413,
      "action": [
        -0.00011593103408813477,
        9.199604392051697e-05,
        0.00010858476161956787,
        -2.9848888516426086e-05,
        -0.00024356693029403687,
        -0.0002541402354836464,
        0.9998401999473572
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149398803710938,
        0.9603961706161499,
        -1.5110968351364136,
        -1.4465627670288086,
        -0.7642109990119934,
        0.9965981841087341,
        0.7135291695594788,
        -0.155450701713562,
        0.12152186781167984,
        0.3343038260936737,
        -0.9285091757774353,
        -0.1615934520959854,
        -0.9413578510284424,
        -0.33727726340293884,
        -0.009495869278907776
      ],
      "bottle_position_world": [
        0.16121859848499298,
        -0.11773910373449326,
        0.837725818157196
      ],
      "bottle_quaternion_world": [
        0.9992848634719849,
        3.1177692108030897e-06,
        4.36925511166919e-05,
        0.037813637405633926
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.0,
      "clearance_m": -0.00022745132446289062,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16175401210784912,
      "action": [
        1.1265277862548828e-05,
        6.398186087608337e-05,
        3.5002827644348145e-05,
        4.0141865611076355e-05,
        -9.717792272567749e-05,
        -0.00022430811077356339,
        0.9998401403427124
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149407744407654,
        0.9603977203369141,
        -1.5110974311828613,
        -1.4465627670288086,
        -0.7642087340354919,
        0.9965980648994446,
        0.7135288715362549,
        -0.1554504781961441,
        0.12152180075645447,
        0.33430159091949463,
        -0.9285098314285278,
        -0.1615935117006302,
        -0.9413585066795349,
        -0.33727508783340454,
        -0.009495425969362259
      ],
      "bottle_position_world": [
        0.1612175703048706,
        -0.11774131655693054,
        0.8377440571784973
      ],
      "bottle_quaternion_world": [
        0.9992848634719849,
        2.5529885533615015e-05,
        3.229001595173031e-05,
        0.03781377896666527
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.05,
      "clearance_m": -0.0002548098564147949,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617826372385025,
      "action": [
        -5.7190656661987305e-05,
        2.389773726463318e-05,
        0.00020572543144226074,
        -6.915070116519928e-05,
        -0.0004134401388000697,
        -0.0006283679394982755,
        0.9998400211334229
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149466753005981,
        0.9604069590568542,
        -1.5111064910888672,
        -1.4465621709823608,
        -0.7642016410827637,
        0.9965982437133789,
        0.7135285139083862,
        -0.15545020997524261,
        0.12152250856161118,
        0.3342958390712738,
        -0.9285126328468323,
        -0.16159020364284515,
        -0.9413609504699707,
        -0.33726853132247925,
        -0.009498797357082367
      ],
      "bottle_position_world": [
        0.1612183302640915,
        -0.11772992461919785,
        0.8377176523208618
      ],
      "bottle_quaternion_world": [
        0.9992847442626953,
        -9.097525617107749e-05,
        4.445745071279816e-05,
        0.03781510144472122
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.100000000000001,
      "clearance_m": -0.00025838613510131836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617850661277771,
      "action": [
        0.0002383589744567871,
        0.00010712072253227234,
        -4.120171070098877e-05,
        0.00020804814994335175,
        -1.8380582332611084e-05,
        -0.00014959368854761124,
        0.9998401403427124
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149445295333862,
        0.9604038000106812,
        -1.5111058950424194,
        -1.4465603828430176,
        -0.7642006278038025,
        0.9965982437133789,
        0.713529646396637,
        -0.15545013546943665,
        0.12152254581451416,
        0.33429479598999023,
        -0.9285127520561218,
        -0.1615910679101944,
        -0.9413613677024841,
        -0.33726733922958374,
        -0.009500311687588692
      ],
      "bottle_position_world": [
        0.16121575236320496,
        -0.11773107945919037,
        0.8377143144607544
      ],
      "bottle_quaternion_world": [
        0.9992847442626953,
        -7.99531553639099e-05,
        1.733173667162191e-05,
        0.03781689330935478
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.15,
      "clearance_m": -0.00025385618209838867,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177676618099213,
      "action": [
        0.00018414855003356934,
        0.00015115365386009216,
        -8.849799633026123e-05,
        0.0003147255629301071,
        0.00010550767183303833,
        0.0001223227009177208,
        0.9998401999473572
      ],
      "proprioception": [
        -3.554445743560791,
        -0.914941132068634,
        0.9603980183601379,
        -1.5111008882522583,
        -1.4465585947036743,
        -0.764202356338501,
        0.9965981245040894,
        0.7135300636291504,
        -0.1554497629404068,
        0.12152202427387238,
        0.33429601788520813,
        -0.9285117983818054,
        -0.16159430146217346,
        -0.9413608312606812,
        -0.33726876974105835,
        -0.009499793872237206
      ],
      "bottle_position_world": [
        0.16122311353683472,
        -0.11774560809135437,
        0.8377187848091125
      ],
      "bottle_quaternion_world": [
        0.9992846250534058,
        7.245593587867916e-05,
        8.742252248339355e-05,
        0.03781859949231148
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.200000000000001,
      "clearance_m": -0.0002563595771789551,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177988052368164,
      "action": [
        -0.00015875697135925293,
        -2.596154808998108e-05,
        -7.702410221099854e-05,
        9.088031947612762e-05,
        0.0001749172806739807,
        -9.165145456790924e-06,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149408936500549,
        0.9603978395462036,
        -1.5110996961593628,
        -1.4465585947036743,
        -0.764202356338501,
        0.996598482131958,
        0.7135298848152161,
        -0.15544968843460083,
        0.12152208387851715,
        0.3342958986759186,
        -0.9285116791725159,
        -0.16159506142139435,
        -0.9413608908653259,
        -0.3372688293457031,
        -0.009498925879597664
      ],
      "bottle_position_world": [
        0.16121499240398407,
        -0.11774113774299622,
        0.8377161026000977
      ],
      "bottle_quaternion_world": [
        0.9992846250534058,
        2.3686307031312026e-05,
        5.674820840795292e-06,
        0.037820056080818176
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.25,
      "clearance_m": -0.00025719404220581055,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617823988199234,
      "action": [
        -3.483891487121582e-05,
        0.00013942644000053406,
        -3.9517879486083984e-05,
        9.596161544322968e-05,
        0.00016365200281143188,
        0.00011949148029088974,
        0.9998403787612915
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149396419525146,
        0.9603956341743469,
        -1.5110968351364136,
        -1.4465585947036743,
        -0.7642028331756592,
        0.996598482131958,
        0.7135297656059265,
        -0.15544965863227844,
        0.12152201682329178,
        0.33429592847824097,
        -0.928511381149292,
        -0.1615963727235794,
        -0.9413606524467468,
        -0.3372691571712494,
        -0.0094976257532835
      ],
      "bottle_position_world": [
        0.16121791303157806,
        -0.11773638427257538,
        0.8377155065536499
      ],
      "bottle_quaternion_world": [
        0.9992845058441162,
        -2.4361381292692386e-05,
        3.658115747384727e-05,
        0.037821561098098755
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.3,
      "clearance_m": -0.0002562999725341797,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617821455001831,
      "action": [
        2.5138258934020996e-05,
        9.926781058311462e-05,
        -4.1350722312927246e-05,
        0.00019885413348674774,
        0.00017092376947402954,
        0.00016222801059484482,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149370193481445,
        0.9603915810585022,
        -1.511091947555542,
        -1.4465585947036743,
        -0.764204740524292,
        0.9965981245040894,
        0.7135297656059265,
        -0.15544965863227844,
        0.12152177840471268,
        0.334297239780426,
        -0.9285104870796204,
        -0.16159865260124207,
        -0.9413599967956543,
        -0.33727094531059265,
        -0.00949549674987793
      ],
      "bottle_position_world": [
        0.16121864318847656,
        -0.11773503571748734,
        0.8377163410186768
      ],
      "bottle_quaternion_world": [
        0.9992845058441162,
        -3.832204674836248e-05,
        4.510398503043689e-05,
        0.03782319650053978
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.350000000000001,
      "clearance_m": -0.0002560615539550781,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177836060523987,
      "action": [
        4.476308822631836e-05,
        0.0001023225486278534,
        -3.46451997756958e-05,
        0.00025032274425029755,
        0.0001445487141609192,
        0.00014935340732336044,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149342179298401,
        0.960387110710144,
        -1.51108717918396,
        -1.4465579986572266,
        -0.7642068266868591,
        0.9965984225273132,
        0.7135298848152161,
        -0.1554495245218277,
        0.12152154743671417,
        0.33429864048957825,
        -0.9285094738006592,
        -0.16160109639167786,
        -0.9413593411445618,
        -0.33727267384529114,
        -0.009493961930274963
      ],
      "bottle_position_world": [
        0.16121768951416016,
        -0.11774537712335587,
        0.8377165198326111
      ],
      "bottle_quaternion_world": [
        0.9992843866348267,
        6.791795021854341e-05,
        3.124986687907949e-05,
        0.03782489150762558
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.4,
      "clearance_m": -0.0002561211585998535,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177934408187866,
      "action": [
        -0.00013455748558044434,
        7.885321974754333e-05,
        -6.893277168273926e-05,
        6.738118827342987e-05,
        0.00015372782945632935,
        0.00013224687427282333,
        0.9998403787612915
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149342179298401,
        0.9603869915008545,
        -1.5110859870910645,
        -1.4465579986572266,
        -0.7642078995704651,
        0.9965981245040894,
        0.7135295271873474,
        -0.15544939041137695,
        0.12152141332626343,
        0.3342994451522827,
        -0.928508996963501,
        -0.16160200536251068,
        -0.9413588643074036,
        -0.3372737169265747,
        -0.009493114426732063
      ],
      "bottle_position_world": [
        0.16120631992816925,
        -0.11773878335952759,
        0.8377165198326111
      ],
      "bottle_quaternion_world": [
        0.9992843866348267,
        -4.1713806240295526e-06,
        -8.292339043691754e-05,
        0.03782669082283974
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.450000000000001,
      "clearance_m": -0.00025981664657592773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178062558174133,
      "action": [
        3.923475742340088e-05,
        0.00028265640139579773,
        -2.8535723686218262e-05,
        0.0001270156353712082,
        3.180652856826782e-05,
        0.00029732193797826767,
        0.9998404383659363
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149342179298401,
        0.9603860378265381,
        -1.511085033416748,
        -1.4465579986572266,
        -0.7642110586166382,
        0.9965982437133789,
        0.713529646396637,
        -0.15544943511486053,
        0.12152177840471268,
        0.3343025743961334,
        -0.9285080432891846,
        -0.16160167753696442,
        -0.9413580298423767,
        -0.33727672696113586,
        -0.009493779391050339
      ],
      "bottle_position_world": [
        0.1612117737531662,
        -0.1177467405796051,
        0.8377128839492798
      ],
      "bottle_quaternion_world": [
        0.9992842674255371,
        7.943141827126965e-05,
        -2.925462649727706e-05,
        0.03782859072089195
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.5,
      "clearance_m": -0.00025910139083862305,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178515553474426,
      "action": [
        -0.00012409687042236328,
        0.0001599229872226715,
        -0.00012265145778656006,
        3.044120967388153e-05,
        0.0001496151089668274,
        0.0003608306578826159,
        0.9998404383659363
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149342179298401,
        0.9603860378265381,
        -1.5110846757888794,
        -1.4465579986572266,
        -0.7642146348953247,
        0.9965984225273132,
        0.7135295271873474,
        -0.15544940531253815,
        0.12152177095413208,
        0.33430594205856323,
        -0.9285067915916443,
        -0.1616019457578659,
        -0.9413567185401917,
        -0.33728012442588806,
        -0.009494062513113022
      ],
      "bottle_position_world": [
        0.16121728718280792,
        -0.11773346364498138,
        0.8377135396003723
      ],
      "bottle_quaternion_world": [
        0.9992841482162476,
        -5.49837204744108e-05,
        3.1684699933975935e-05,
        0.03783060610294342
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.55,
      "clearance_m": -0.0002587437629699707,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178034245967865,
      "action": [
        6.875395774841309e-05,
        0.00011659041047096252,
        -4.8026442527770996e-05,
        0.00026689283549785614,
        0.0001883283257484436,
        0.00033382978290319443,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149309992790222,
        0.9603806734085083,
        -1.5110782384872437,
        -1.4465577602386475,
        -0.7642188668251038,
        0.9965983629226685,
        0.7135294079780579,
        -0.15544931590557098,
        0.12152153253555298,
        0.33430910110473633,
        -0.9285050630569458,
        -0.1616051346063614,
        -0.9413554072380066,
        -0.33728376030921936,
        -0.009491991251707077
      ],
      "bottle_position_world": [
        0.1612163484096527,
        -0.11774630099534988,
        0.837713897228241
      ],
      "bottle_quaternion_world": [
        0.9992841482162476,
        7.672843639738858e-05,
        1.6917207176447846e-05,
        0.03783246502280235
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.600000000000001,
      "clearance_m": -0.0002588629722595215,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178442537784576,
      "action": [
        -0.00014737248420715332,
        0.00010574236512184143,
        -9.329617023468018e-05,
        7.465295493602753e-05,
        0.00018931180238723755,
        0.0002629300579428673,
        0.9998403787612915
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149307608604431,
        0.9603803753852844,
        -1.5110764503479004,
        -1.4465577602386475,
        -0.764221727848053,
        0.9965984225273132,
        0.7135290503501892,
        -0.15544912219047546,
        0.12152152508497238,
        0.33431166410446167,
        -0.9285039305686951,
        -0.16160617768764496,
        -0.9413544535636902,
        -0.3372865319252014,
        -0.00949113816022873
      ],
      "bottle_position_world": [
        0.16121777892112732,
        -0.11773507297039032,
        0.8377137780189514
      ],
      "bottle_quaternion_world": [
        0.999284029006958,
        -3.7742112908745185e-05,
        3.604986341088079e-05,
        0.037834491580724716
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.65,
      "clearance_m": -0.0002588629722595215,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617806851863861,
      "action": [
        3.7997961044311523e-05,
        0.00011077150702476501,
        -4.096329212188721e-05,
        0.00023028068244457245,
        0.00018758326768875122,
        0.00026677455753088,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149277806282043,
        0.9603753685951233,
        -1.5110702514648438,
        -1.4465577602386475,
        -0.7642253637313843,
        0.996598482131958,
        0.7135289311408997,
        -0.15544915199279785,
        0.12152116000652313,
        0.3343145549297333,
        -0.9285025000572205,
        -0.16160887479782104,
        -0.9413532018661499,
        -0.3372900187969208,
        -0.009488647803664207
      ],
      "bottle_position_world": [
        0.16121500730514526,
        -0.1177455261349678,
        0.8377136588096619
      ],
      "bottle_quaternion_world": [
        0.999284029006958,
        6.880743603687733e-05,
        4.55187955594738e-06,
        0.0378364659845829
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.700000000000001,
      "clearance_m": -0.0002575516700744629,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178084909915924,
      "action": [
        -0.00012296438217163086,
        0.00012753531336784363,
        -8.736550807952881e-05,
        6.533972918987274e-05,
        0.00016847997903823853,
        0.0002664467319846153,
        0.9998404383659363
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149274826049805,
        0.9603749513626099,
        -1.5110688209533691,
        -1.4465577602386475,
        -0.7642282843589783,
        0.996598482131958,
        0.7135287523269653,
        -0.15544889867305756,
        0.12152104079723358,
        0.33431705832481384,
        -0.9285013675689697,
        -0.16160999238491058,
        -0.9413522481918335,
        -0.3372926414012909,
        -0.009488238021731377
      ],
      "bottle_position_world": [
        0.16121047735214233,
        -0.11773962527513504,
        0.8377150893211365
      ],
      "bottle_quaternion_world": [
        0.9992839097976685,
        6.998398021096364e-06,
        -3.955777356168255e-05,
        0.0378383994102478
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.75,
      "clearance_m": -0.0002516508102416992,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177473962306976,
      "action": [
        -4.410743713378906e-06,
        0.0002069137990474701,
        -3.9950013160705566e-05,
        0.0001247655600309372,
        8.807331323623657e-05,
        0.0003225943073630333,
        0.9998403787612915
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149268865585327,
        0.960373044013977,
        -1.5110670328140259,
        -1.4465577602386475,
        -0.7642318606376648,
        0.9965982437133789,
        0.7135286331176758,
        -0.15544889867305756,
        0.12152133882045746,
        0.33432015776634216,
        -0.9285000562667847,
        -0.16161037981510162,
        -0.941351056098938,
        -0.3372958302497864,
        -0.009488271549344063
      ],
      "bottle_position_world": [
        0.16121898591518402,
        -0.1177438497543335,
        0.8377211093902588
      ],
      "bottle_quaternion_world": [
        0.9992839097976685,
        5.353885353542864e-05,
        4.637318852473982e-05,
        0.03783981129527092
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.8,
      "clearance_m": -0.0002562403678894043,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178137063980103,
      "action": [
        -0.0001312047243118286,
        3.560259938240051e-05,
        -1.1920928955078125e-05,
        4.601292312145233e-05,
        5.052238702774048e-05,
        8.420553058385849e-05,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149268865585327,
        0.9603736400604248,
        -1.5110670328140259,
        -1.4465577602386475,
        -0.7642323970794678,
        0.996598482131958,
        0.7135286331176758,
        -0.15544888377189636,
        0.12152104079723358,
        0.33432072401046753,
        -0.9284999370574951,
        -0.16161055862903595,
        -0.9413509964942932,
        -0.33729639649391174,
        -0.009488115087151527
      ],
      "bottle_position_world": [
        0.16121819615364075,
        -0.11773752421140671,
        0.8377162218093872
      ],
      "bottle_quaternion_world": [
        0.9992837905883789,
        -1.1989545782853384e-05,
        4.0777737012831494e-05,
        0.03784114494919777
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.850000000000001,
      "clearance_m": -0.00025963783264160156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178590059280396,
      "action": [
        1.093745231628418e-05,
        9.040161967277527e-05,
        -2.135336399078369e-05,
        0.00014620088040828705,
        0.0001063123345375061,
        0.00013025011867284775,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149256944656372,
        0.9603709578514099,
        -1.5110646486282349,
        -1.4465577602386475,
        -0.7642338275909424,
        0.9965982437133789,
        0.7135287523269653,
        -0.15544895827770233,
        0.12152110040187836,
        0.33432188630104065,
        -0.9284994006156921,
        -0.16161122918128967,
        -0.941350519657135,
        -0.3372977375984192,
        -0.009487772360444069
      ],
      "bottle_position_world": [
        0.16121093928813934,
        -0.11773063987493515,
        0.8377130031585693
      ],
      "bottle_quaternion_world": [
        0.9992837905883789,
        -8.470456668874249e-05,
        -3.093132909270935e-05,
        0.03784254938364029
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.9,
      "clearance_m": -0.000258028507232666,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178086400032043,
      "action": [
        0.00017289817333221436,
        0.00024842843413352966,
        -4.798173904418945e-05,
        0.000305933877825737,
        6.339699029922485e-05,
        0.0003123423084616661,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149230718612671,
        0.9603667855262756,
        -1.5110610723495483,
        -1.4465558528900146,
        -0.7642374634742737,
        0.9965982437133789,
        0.7135291695594788,
        -0.15544858574867249,
        0.1215212345123291,
        0.33432504534721375,
        -0.9284979701042175,
        -0.16161376237869263,
        -0.9413493871688843,
        -0.33730098605155945,
        -0.009487934410572052
      ],
      "bottle_position_world": [
        0.16121189296245575,
        -0.1177411749958992,
        0.837714672088623
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        2.3608099581906572e-05,
        -2.5115941753028892e-05,
        0.037844378501176834
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 12.950000000000001,
      "clearance_m": -0.0002568364143371582,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617821753025055,
      "action": [
        -3.600120544433594e-05,
        0.00017660483717918396,
        -0.00010028481483459473,
        0.00017152540385723114,
        5.7913362979888916e-05,
        0.0003085574135184288,
        0.9998403787612915
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149227142333984,
        0.9603665471076965,
        -1.5110608339309692,
        -1.4465558528900146,
        -0.7642412185668945,
        0.9965981245040894,
        0.7135292291641235,
        -0.15544864535331726,
        0.12152105569839478,
        0.33432841300964355,
        -0.9284965395927429,
        -0.16161412000656128,
        -0.9413479566574097,
        -0.33730438351631165,
        -0.009488239884376526
      ],
      "bottle_position_world": [
        0.16121332347393036,
        -0.11773471534252167,
        0.8377158045768738
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        -4.2122243030462414e-05,
        -9.032187335833441e-06,
        0.03784603998064995
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.0,
      "clearance_m": -0.0002522468566894531,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176766157150269,
      "action": [
        6.319582462310791e-05,
        0.0001819021999835968,
        -4.425644874572754e-05,
        0.00025379471480846405,
        5.129724740982056e-05,
        0.00028656329959630966,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149209856987,
        0.9603636860847473,
        -1.5110578536987305,
        -1.4465545415878296,
        -0.7642452120780945,
        0.9965982437133789,
        0.7135294675827026,
        -0.15544834733009338,
        0.12152095139026642,
        0.33433184027671814,
        -0.9284949898719788,
        -0.1616162806749344,
        -0.9413467645645142,
        -0.3373079299926758,
        -0.009488355368375778
      ],
      "bottle_position_world": [
        0.16122445464134216,
        -0.1177513599395752,
        0.8377265930175781
      ],
      "bottle_quaternion_world": [
        0.9992835521697998,
        0.00013303507876116782,
        9.880952711682767e-05,
        0.037846725434064865
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.05,
      "clearance_m": -0.000249326229095459,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177381575107574,
      "action": [
        -0.00031541287899017334,
        -9.378418326377869e-05,
        1.214444637298584e-05,
        -8.547492325305939e-05,
        1.0438263416290283e-05,
        -0.00016163382679224014,
        0.9998401999473572
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149240255355835,
        0.9603685736656189,
        -1.5110586881637573,
        -1.4465545415878296,
        -0.7642442584037781,
        0.9965982437133789,
        0.7135282754898071,
        -0.15544767677783966,
        0.12152080237865448,
        0.3343310058116913,
        -0.9284951686859131,
        -0.16161704063415527,
        -0.9413470029830933,
        -0.33730727434158325,
        -0.009487554430961609
      ],
      "bottle_position_world": [
        0.16121074557304382,
        -0.11773733794689178,
        0.8377234935760498
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        -1.6211528418352827e-05,
        -3.5861368814948946e-05,
        0.03784561529755592
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.100000000000001,
      "clearance_m": -0.0002536177635192871,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176767647266388,
      "action": [
        4.5627355575561523e-05,
        0.0001775585114955902,
        6.751716136932373e-05,
        3.164820373058319e-05,
        -0.0001098141074180603,
        -4.281196743249893e-05,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149245023727417,
        0.9603698253631592,
        -1.511059045791626,
        -1.4465545415878296,
        -0.7642441391944885,
        0.9965984225273132,
        0.7135279774665833,
        -0.1554475873708725,
        0.12152067571878433,
        0.33433082699775696,
        -0.9284952878952026,
        -0.16161730885505676,
        -0.9413471817970276,
        -0.33730706572532654,
        -0.009487472474575043
      ],
      "bottle_position_world": [
        0.16121208667755127,
        -0.11775070428848267,
        0.8377253413200378
      ],
      "bottle_quaternion_world": [
        0.9992835521697998,
        0.00012183078797534108,
        -2.7265146854915656e-05,
        0.03784628212451935
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.15,
      "clearance_m": -0.00025767087936401367,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617836207151413,
      "action": [
        -0.00018993020057678223,
        8.035823702812195e-05,
        -1.043081283569336e-06,
        -0.00018715299665927887,
        -0.0001283213496208191,
        -8.033309131860733e-05,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149286150932312,
        0.9603768587112427,
        -1.5110646486282349,
        -1.4465545415878296,
        -0.7642428874969482,
        0.9965984225273132,
        0.7135273218154907,
        -0.15544742345809937,
        0.12152077257633209,
        0.3343299925327301,
        -0.9284958839416504,
        -0.16161544620990753,
        -0.9413475394248962,
        -0.33730587363243103,
        -0.009488945826888084
      ],
      "bottle_position_world": [
        0.16120557487010956,
        -0.11772972345352173,
        0.8377151489257812
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        -9.56676303758286e-05,
        -8.559232810512185e-05,
        0.03784498944878578
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.200000000000001,
      "clearance_m": -0.0002576112747192383,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177992522716522,
      "action": [
        0.0002455413341522217,
        0.0002789311110973358,
        -2.0325183868408203e-05,
        0.00019322894513607025,
        -5.560368299484253e-05,
        0.00028790440410375595,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149264693260193,
        0.9603732824325562,
        -1.5110636949539185,
        -1.4465538263320923,
        -0.7642458081245422,
        0.9965982437133789,
        0.7135282158851624,
        -0.15544751286506653,
        0.12152080237865448,
        0.3343327045440674,
        -0.9284947514533997,
        -0.16161561012268066,
        -0.9413465857505798,
        -0.33730849623680115,
        -0.00949023850262165
      ],
      "bottle_position_world": [
        0.16122490167617798,
        -0.11774621903896332,
        0.8377153873443604
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        8.082410204224288e-05,
        0.00010649528121575713,
        0.0378434993326664
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.25,
      "clearance_m": -0.0002574920654296875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178035736083984,
      "action": [
        -0.00017437338829040527,
        -9.219720959663391e-05,
        -0.00010603666305541992,
        4.513375461101532e-05,
        0.00018597394227981567,
        0.00011731591075658798,
        0.9998401999473572
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149264693260193,
        0.960373044013977,
        -1.5110617876052856,
        -1.4465538263320923,
        -0.7642474174499512,
        0.9965982437133789,
        0.7135277986526489,
        -0.1554473489522934,
        0.12152078747749329,
        0.33433401584625244,
        -0.9284941554069519,
        -0.16161668300628662,
        -0.9413460493087769,
        -0.3373100161552429,
        -0.009489374235272408
      ],
      "bottle_position_world": [
        0.16122107207775116,
        -0.11774452775716782,
        0.8377150893211365
      ],
      "bottle_quaternion_world": [
        0.9992837905883789,
        6.222482625162229e-05,
        6.809597107348964e-05,
        0.03784191235899925
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.3,
      "clearance_m": -0.00025027990341186523,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617724597454071,
      "action": [
        -0.00013300776481628418,
        1.3373792171478271e-06,
        -3.78340482711792e-05,
        1.3580545783042908e-05,
        0.00022277981042861938,
        8.691754192113876e-05,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149255752563477,
        0.9603708982467651,
        -1.5110582113265991,
        -1.4465538263320923,
        -0.7642475366592407,
        0.9965986609458923,
        0.713527500629425,
        -0.15544724464416504,
        0.12152083963155746,
        0.3343336284160614,
        -0.9284940361976624,
        -0.1616184413433075,
        -0.9413461089134216,
        -0.33730998635292053,
        -0.009487703442573547
      ],
      "bottle_position_world": [
        0.16121222078800201,
        -0.11774488538503647,
        0.8377223610877991
      ],
      "bottle_quaternion_world": [
        0.9992837905883789,
        6.223598029464483e-05,
        -2.325103196199052e-05,
        0.0378403402864933
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.350000000000001,
      "clearance_m": -0.0002525448799133301,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177500784397125,
      "action": [
        -0.00010642409324645996,
        0.00012214109301567078,
        3.972649574279785e-05,
        -6.125308573246002e-05,
        -8.396804332733154e-06,
        2.2365711629390717e-05,
        0.9998403787612915
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149271845817566,
        0.9603734612464905,
        -1.5110582113265991,
        -1.4465538263320923,
        -0.7642475366592407,
        0.9965982437133789,
        0.713526725769043,
        -0.1554468721151352,
        0.12152082473039627,
        0.3343336880207062,
        -0.9284939169883728,
        -0.1616188883781433,
        -0.9413459897041321,
        -0.33731016516685486,
        -0.009487098082900047
      ],
      "bottle_position_world": [
        0.16121025383472443,
        -0.11774331331253052,
        0.8377199769020081
      ],
      "bottle_quaternion_world": [
        0.9992839097976685,
        4.5049626351101324e-05,
        -4.299899228499271e-05,
        0.03783918172121048
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.4,
      "clearance_m": -0.00025385618209838867,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177545487880707,
      "action": [
        -3.6776065826416016e-05,
        0.00014368072152137756,
        -6.9141387939453125e-06,
        -4.7655776143074036e-05,
        -4.392117261886597e-05,
        0.00011174287647008896,
        0.9998403787612915
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149278402328491,
        0.9603753685951233,
        -1.5110586881637573,
        -1.4465538263320923,
        -0.7642475366592407,
        0.9965985417366028,
        0.7135262489318848,
        -0.15544676780700684,
        0.12152045220136642,
        0.33433347940444946,
        -0.9284937977790833,
        -0.16161943972110748,
        -0.9413460493087769,
        -0.3373100757598877,
        -0.009486416354775429
      ],
      "bottle_position_world": [
        0.16120848059654236,
        -0.11774564534425735,
        0.8377184271812439
      ],
      "bottle_quaternion_world": [
        0.9992839097976685,
        6.87337014824152e-05,
        -6.253331230254844e-05,
        0.037839099764823914
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.450000000000001,
      "clearance_m": -0.00025349855422973633,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178347170352936,
      "action": [
        -5.564093589782715e-05,
        0.0001614503562450409,
        -4.234910011291504e-05,
        -6.064213812351227e-05,
        -3.4593045711517334e-05,
        0.0002080937847495079,
        0.9998403787612915
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149286150932312,
        0.9603775143623352,
        -1.511059284210205,
        -1.4465538263320923,
        -0.7642488479614258,
        0.9965983629226685,
        0.7135258316993713,
        -0.15544649958610535,
        0.12151990830898285,
        0.33433449268341064,
        -0.9284932613372803,
        -0.16162003576755524,
        -0.9413455128669739,
        -0.3373112082481384,
        -0.009486081078648567
      ],
      "bottle_position_world": [
        0.16121487319469452,
        -0.11772127449512482,
        0.8377195000648499
      ],
      "bottle_quaternion_world": [
        0.9992839097976685,
        -0.0001784811756806448,
        1.2213754416734446e-05,
        0.03783935308456421
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.5,
      "clearance_m": -0.0002535581588745117,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178055107593536,
      "action": [
        0.00033693015575408936,
        0.0001416616141796112,
        5.106627941131592e-05,
        0.0004045720852445811,
        -7.130950689315796e-05,
        0.00021283235400915146,
        0.9998399615287781
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149254560470581,
        0.9603717923164368,
        -1.5110557079315186,
        -1.4465492963790894,
        -0.7642521858215332,
        0.9965984225273132,
        0.7135270237922668,
        -0.15544569492340088,
        0.12152031064033508,
        0.3343375027179718,
        -0.9284918308258057,
        -0.16162383556365967,
        -0.9413447976112366,
        -0.3373139202594757,
        -0.00948895514011383
      ],
      "bottle_position_world": [
        0.16121520102024078,
        -0.11773336678743362,
        0.8377182483673096
      ],
      "bottle_quaternion_world": [
        0.9992839097976685,
        -5.570263238041662e-05,
        1.0730180292739533e-05,
        0.03783920407295227
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.55,
      "clearance_m": -0.0002461671829223633,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176912188529968,
      "action": [
        0.00012543797492980957,
        0.00011092051863670349,
        -3.3989548683166504e-05,
        0.00030163489282131195,
        -5.1818788051605225e-05,
        0.00017078127712011337,
        0.9998401403427124
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149242043495178,
        0.9603701233863831,
        -1.5110548734664917,
        -1.4465464353561401,
        -0.7642555832862854,
        0.9965983629226685,
        0.7135277986526489,
        -0.15544511377811432,
        0.1215202808380127,
        0.33434048295021057,
        -0.9284900426864624,
        -0.16162607073783875,
        -0.9413436055183411,
        -0.3373166620731354,
        -0.009491268545389175
      ],
      "bottle_position_world": [
        0.1612127125263214,
        -0.11774046719074249,
        0.8377276062965393
      ],
      "bottle_quaternion_world": [
        0.9992839097976685,
        1.6418165614595637e-05,
        -1.7543499780003913e-05,
        0.03783959895372391
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.600000000000001,
      "clearance_m": -0.00023353099822998047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176128387451172,
      "action": [
        -2.6941299438476562e-05,
        9.945407509803772e-05,
        5.574524402618408e-05,
        8.882395923137665e-05,
        -0.00018831342458724976,
        -3.762636333703995e-05,
        0.9998401999473572
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149261713027954,
        0.9603737592697144,
        -1.5110576152801514,
        -1.4465458393096924,
        -0.7642556428909302,
        0.9965982437133789,
        0.7135274410247803,
        -0.15544472634792328,
        0.12152021378278732,
        0.3343406915664673,
        -0.928490161895752,
        -0.16162587702274323,
        -0.9413436055183411,
        -0.33731675148010254,
        -0.00949230045080185
      ],
      "bottle_position_world": [
        0.16121503710746765,
        -0.11773224174976349,
        0.8377392888069153
      ],
      "bottle_quaternion_world": [
        0.9992837905883789,
        -6.735929491696879e-05,
        9.33762567001395e-06,
        0.0378398559987545
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.65,
      "clearance_m": -0.00022679567337036133,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16174562275409698,
      "action": [
        9.997189044952393e-05,
        5.124881863594055e-05,
        0.00020490586757659912,
        0.00010965578258037567,
        -0.00042702999780885875,
        -0.0003874161920975894,
        0.9998399615287781
      ],
      "proprioception": [
        -3.554445743560791,
        -0.914929986000061,
        0.9603791832923889,
        -1.5110646486282349,
        -1.4465428590774536,
        -0.7642519474029541,
        0.9965981841087341,
        0.7135280966758728,
        -0.15544414520263672,
        0.12152118980884552,
        0.33433806896209717,
        -0.9284913539886475,
        -0.1616242378950119,
        -0.9413449168205261,
        -0.33731311559677124,
        -0.00949789211153984
      ],
      "bottle_position_world": [
        0.16121439635753632,
        -0.1177414208650589,
        0.837752640247345
      ],
      "bottle_quaternion_world": [
        0.9992837905883789,
        2.6511301257414743e-05,
        -9.121544621848443e-07,
        0.03783971071243286
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.700000000000001,
      "clearance_m": -0.0002461671829223633,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617729812860489,
      "action": [
        -4.9486756324768066e-05,
        -1.9069761037826538e-05,
        0.00028865039348602295,
        -0.00016229040920734406,
        -0.0007016881136223674,
        -0.0008449711021967232,
        0.9998399019241333
      ],
      "proprioception": [
        -3.554445743560791,
        -0.914938747882843,
        0.9603928327560425,
        -1.5110794305801392,
        -1.446541428565979,
        -0.7642432451248169,
        0.9965982437133789,
        0.7135279178619385,
        -0.15544366836547852,
        0.12152215093374252,
        0.33433103561401367,
        -0.9284948706626892,
        -0.16161884367465973,
        -0.9413478374481201,
        -0.3373046815395355,
        -0.009504547342658043
      ],
      "bottle_position_world": [
        0.1612214744091034,
        -0.11773659288883209,
        0.8377259373664856
      ],
      "bottle_quaternion_world": [
        0.9992839097976685,
        -2.048078204097692e-05,
        7.408267265418544e-05,
        0.03783957660198212
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.75,
      "clearance_m": -0.00026279687881469727,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617778092622757,
      "action": [
        9.265542030334473e-05,
        -9.16309654712677e-05,
        1.2964010238647461e-05,
        -4.4094398617744446e-05,
        -0.00017379969358444214,
        -0.0004703858576249331,
        0.9998400211334229
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149402976036072,
        0.9603956937789917,
        -1.5110836029052734,
        -1.446541428565979,
        -0.7642379999160767,
        0.9965983629226685,
        0.7135282754898071,
        -0.15544378757476807,
        0.12152227759361267,
        0.33432647585868835,
        -0.9284967184066772,
        -0.16161669790744781,
        -0.941349446773529,
        -0.33729976415634155,
        -0.00950578786432743
      ],
      "bottle_position_world": [
        0.16122101247310638,
        -0.11774871498346329,
        0.837716281414032
      ],
      "bottle_quaternion_world": [
        0.9992837905883789,
        0.00010382306936662644,
        6.44917890895158e-05,
        0.03784013167023659
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.8,
      "clearance_m": -0.0002582073211669922,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617801934480667,
      "action": [
        -0.0001487433910369873,
        -0.00010411068797111511,
        -0.00010420382022857666,
        -0.0001630205661058426,
        0.00017488747835159302,
        -0.0001663127914071083,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149402976036072,
        0.9603963494300842,
        -1.5110836029052734,
        -1.4465430974960327,
        -0.7642351388931274,
        0.9965981245040894,
        0.7135279178619385,
        -0.15544408559799194,
        0.1215219646692276,
        0.33432385325431824,
        -0.928497850894928,
        -0.1616160124540329,
        -0.9413504004478455,
        -0.3372974097728729,
        -0.009503772482275963
      ],
      "bottle_position_world": [
        0.16122153401374817,
        -0.11774615943431854,
        0.8377147316932678
      ],
      "bottle_quaternion_world": [
        0.9992837905883789,
        7.84047952038236e-05,
        7.068414561217651e-05,
        0.03784186765551567
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.850000000000001,
      "clearance_m": -0.0002557039260864258,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178102791309357,
      "action": [
        -0.00014670193195343018,
        -9.446218609809875e-05,
        -5.5417418479919434e-05,
        -0.0001169014722108841,
        0.00029806047677993774,
        -6.810761988162994e-06,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149388074874878,
        0.960393488407135,
        -1.5110799074172974,
        -1.446544885635376,
        -0.7642350792884827,
        0.9965982437133789,
        0.713527500629425,
        -0.1554444432258606,
        0.12152200937271118,
        0.3343234658241272,
        -0.9284977316856384,
        -0.1616164743900299,
        -0.9413502812385559,
        -0.3372974991798401,
        -0.009500794112682343
      ],
      "bottle_position_world": [
        0.16121023893356323,
        -0.11773265898227692,
        0.8377174139022827
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        -6.522989133372903e-05,
        -4.032439028378576e-05,
        0.0378432460129261
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.9,
      "clearance_m": -0.00023788213729858398,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176347434520721,
      "action": [
        0.00014093518257141113,
        0.00015955790877342224,
        3.547966480255127e-05,
        0.00011677853763103485,
        8.995085954666138e-05,
        0.0001598736271262169,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149361848831177,
        0.9603893160820007,
        -1.5110758543014526,
        -1.446544885635376,
        -0.7642359137535095,
        0.9965984225273132,
        0.7135276794433594,
        -0.15544459223747253,
        0.12152165174484253,
        0.3343239724636078,
        -0.9284975528717041,
        -0.16161799430847168,
        -0.9413501024246216,
        -0.33729833364486694,
        -0.00949910469353199
      ],
      "bottle_position_world": [
        0.16121679544448853,
        -0.11774171143770218,
        0.8377336859703064
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        3.0393539418582805e-05,
        2.417906216578558e-05,
        0.03784318268299103
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 13.950000000000001,
      "clearance_m": -0.00024813413619995117,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176986694335938,
      "action": [
        -8.238852024078369e-05,
        -1.2788921594619751e-05,
        0.00012789666652679443,
        -3.162212669849396e-05,
        -0.00019281357526779175,
        -0.00024418625980615616,
        0.9998400211334229
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149389863014221,
        0.9603933691978455,
        -1.5110795497894287,
        -1.446544885635376,
        -0.764233410358429,
        0.9965982437133789,
        0.713527500629425,
        -0.15544454753398895,
        0.12152206897735596,
        0.3343220055103302,
        -0.9284986257553101,
        -0.16161641478538513,
        -0.9413511753082275,
        -0.3372960686683655,
        -0.009500687941908836
      ],
      "bottle_position_world": [
        0.1612139791250229,
        -0.11774572730064392,
        0.837725043296814
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        7.144030678318813e-05,
        -7.135126452340046e-06,
        0.03784376010298729
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.0,
      "clearance_m": -0.00024819374084472656,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176776587963104,
      "action": [
        -7.623434066772461e-05,
        3.559514880180359e-05,
        2.2426247596740723e-05,
        -0.00013387389481067657,
        -9.261816740036011e-05,
        -0.0001535573974251747,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149415493011475,
        0.9603972434997559,
        -1.5110822916030884,
        -1.446544885635376,
        -0.7642310261726379,
        0.9965983629226685,
        0.7135269045829773,
        -0.15544430911540985,
        0.12152223289012909,
        0.3343198597431183,
        -0.9284994602203369,
        -0.16161546111106873,
        -0.9413518309593201,
        -0.33729374408721924,
        -0.009501073509454727
      ],
      "bottle_position_world": [
        0.16122087836265564,
        -0.11775482445955276,
        0.8377248048782349
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        0.00016688948380760849,
        5.9960715589113533e-05,
        0.03784395009279251
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.05,
      "clearance_m": -0.0002537369728088379,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617763787508011,
      "action": [
        -0.00028370320796966553,
        -0.00014151260256767273,
        -1.0356307029724121e-05,
        -0.00031200237572193146,
        5.362182855606079e-05,
        -0.0002139965072274208,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149449467658997,
        0.9604025483131409,
        -1.5110849142074585,
        -1.4465481042861938,
        -0.7642274498939514,
        0.9965982437133789,
        0.7135257720947266,
        -0.1554446667432785,
        0.12152213603258133,
        0.33431679010391235,
        -0.9285009503364563,
        -0.16161268949508667,
        -0.9413526654243469,
        -0.33729085326194763,
        -0.009498978033661842
      ],
      "bottle_position_world": [
        0.16121505200862885,
        -0.11774329841136932,
        0.8377190828323364
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        4.714555689133704e-05,
        4.899564373772591e-06,
        0.03784407302737236
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.100000000000001,
      "clearance_m": -0.0002478957176208496,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177091002464294,
      "action": [
        -2.4765729904174805e-05,
        2.7727335691452026e-05,
        8.687376976013184e-06,
        -0.00013567693531513214,
        0.00010488182306289673,
        -7.078982889652252e-06,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149451851844788,
        0.9604026675224304,
        -1.5110849142074585,
        -1.4465487003326416,
        -0.7642268538475037,
        0.996598482131958,
        0.713525652885437,
        -0.15544486045837402,
        0.12152236700057983,
        0.3343161940574646,
        -0.9285011291503906,
        -0.16161216795444489,
        -0.941352903842926,
        -0.33729028701782227,
        -0.009498534724116325
      ],
      "bottle_position_world": [
        0.16120772063732147,
        -0.11774243414402008,
        0.8377243876457214
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        3.4793953091138974e-05,
        -6.959064194234088e-05,
        0.037843745201826096
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.15,
      "clearance_m": -0.0002512931823730469,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177065670490265,
      "action": [
        1.545250415802002e-05,
        0.000138748437166214,
        4.8294663429260254e-05,
        -9.878911077976227e-05,
        -8.31112265586853e-05,
        4.2720697820186615e-05,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149460792541504,
        0.9604044556617737,
        -1.5110859870910645,
        -1.4465487003326416,
        -0.7642268538475037,
        0.9965982437133789,
        0.7135254144668579,
        -0.15544475615024567,
        0.12152235954999924,
        0.3343161642551422,
        -0.9285011291503906,
        -0.16161225736141205,
        -0.9413528442382812,
        -0.3372902274131775,
        -0.009498689323663712
      ],
      "bottle_position_world": [
        0.1612132489681244,
        -0.11775234341621399,
        0.8377217054367065
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        0.00013887026580050588,
        -1.7742013369570486e-05,
        0.03784426674246788
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.200000000000001,
      "clearance_m": -0.00025600194931030273,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178002953529358,
      "action": [
        -0.00016948580741882324,
        6.746500730514526e-06,
        -3.948807716369629e-05,
        -0.00023120827972888947,
        1.1928379535675049e-05,
        5.154218524694443e-05,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149483442306519,
        0.9604082703590393,
        -1.5110877752304077,
        -1.4465503692626953,
        -0.7642268538475037,
        0.9965982437133789,
        0.7135247588157654,
        -0.15544486045837402,
        0.12152227759361267,
        0.3343164622783661,
        -0.9285016059875488,
        -0.16161075234413147,
        -0.9413530826568604,
        -0.3372906446456909,
        -0.009497761726379395
      ],
      "bottle_position_world": [
        0.16121725738048553,
        -0.11774132400751114,
        0.8377161622047424
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        2.655319985933602e-05,
        2.7642403438221663e-05,
        0.037844154983758926
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.25,
      "clearance_m": -0.0002573728561401367,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177871823310852,
      "action": [
        1.5616416931152344e-05,
        -5.401670932769775e-07,
        -3.738701343536377e-05,
        -2.413429319858551e-05,
        0.00015766173601150513,
        0.0001597544178366661,
        0.9998401999473572
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149463772773743,
        0.960404634475708,
        -1.511084794998169,
        -1.4465503692626953,
        -0.7642277479171753,
        0.996598482131958,
        0.7135249376296997,
        -0.15544497966766357,
        0.12152234464883804,
        0.3343171179294586,
        -0.9285010099411011,
        -0.16161170601844788,
        -0.9413526058197021,
        -0.3372914791107178,
        -0.009496841579675674
      ],
      "bottle_position_world": [
        0.16121718287467957,
        -0.11774741858243942,
        0.8377153277397156
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        9.054761903826147e-05,
        2.4319337171618827e-05,
        0.037844330072402954
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.3,
      "clearance_m": -0.0002544522285461426,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177816689014435,
      "action": [
        -9.959936141967773e-05,
        -3.4384429454803467e-06,
        -6.20037317276001e-05,
        -7.443316280841827e-05,
        0.00020156055688858032,
        0.0001819869503378868,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.914945662021637,
        0.9604031443595886,
        -1.5110827684402466,
        -1.4465512037277222,
        -0.7642288208007812,
        0.996598482131958,
        0.7135246992111206,
        -0.15544520318508148,
        0.12152233719825745,
        0.3343178629875183,
        -0.928500771522522,
        -0.16161182522773743,
        -0.9413522481918335,
        -0.33729246258735657,
        -0.009495571255683899
      ],
      "bottle_position_world": [
        0.1612057387828827,
        -0.11773580312728882,
        0.8377187848091125
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        -3.3772641472751275e-05,
        -8.922175038605928e-05,
        0.03784378245472908
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.350000000000001,
      "clearance_m": -0.0002568364143371582,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617821753025055,
      "action": [
        0.00015589594841003418,
        0.00023272261023521423,
        2.111494541168213e-05,
        0.00010023824870586395,
        -8.605420589447021e-06,
        0.0002874275669455528,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.914944589138031,
        0.960400402545929,
        -1.5110820531845093,
        -1.4465512037277222,
        -0.7642315626144409,
        0.9965984225273132,
        0.7135252356529236,
        -0.1554454267024994,
        0.12152270972728729,
        0.3343205451965332,
        -0.9284998774528503,
        -0.16161112487316132,
        -0.9413512945175171,
        -0.33729490637779236,
        -0.009496724233031273
      ],
      "bottle_position_world": [
        0.16121366620063782,
        -0.1177351325750351,
        0.8377156853675842
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        -3.723970803548582e-05,
        -7.433819519064855e-06,
        0.03784509748220444
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.4,
      "clearance_m": -0.0002560615539550781,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16178303956985474,
      "action": [
        0.00013543665409088135,
        0.00011409446597099304,
        -5.780160427093506e-05,
        0.0001994352787733078,
        5.910545587539673e-05,
        0.00030074920505285263,
        0.9998401999473572
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149418473243713,
        0.960396409034729,
        -1.5110794305801392,
        -1.4465512037277222,
        -0.7642353773117065,
        0.9965984225273132,
        0.7135257720947266,
        -0.1554456651210785,
        0.12152224034070969,
        0.334323912858963,
        -0.9284986257553101,
        -0.16161224246025085,
        -0.9413501620292664,
        -0.3372984826564789,
        -0.009496109560132027
      ],
      "bottle_position_world": [
        0.16121400892734528,
        -0.11772926151752472,
        0.8377169370651245
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        -9.77144154603593e-05,
        -1.2519706160674104e-06,
        0.037845246493816376
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.450000000000001,
      "clearance_m": -0.00025087594985961914,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177240014076233,
      "action": [
        0.0002288818359375,
        0.00014504417777061462,
        -2.5391578674316406e-05,
        0.00034063123166561127,
        3.022700548171997e-05,
        0.0002780398353934288,
        0.9998401403427124
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149380326271057,
        0.9603907465934753,
        -1.5110749006271362,
        -1.4465487003326416,
        -0.7642396092414856,
        0.996598482131958,
        0.7135266661643982,
        -0.15544524788856506,
        0.12152203917503357,
        0.3343275785446167,
        -0.9284965991973877,
        -0.16161565482616425,
        -0.9413487911224365,
        -0.3373022675514221,
        -0.009496748447418213
      ],
      "bottle_position_world": [
        0.16121500730514526,
        -0.11774794012308121,
        0.8377216458320618
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        9.39407545956783e-05,
        1.696307776910544e-06,
        0.037844859063625336
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.5,
      "clearance_m": -0.0002543926239013672,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177301108837128,
      "action": [
        -0.00013056397438049316,
        4.252418875694275e-05,
        -4.4971704483032227e-05,
        3.3061951398849487e-06,
        2.600252628326416e-06,
        9.028520435094833e-05,
        0.9998403191566467
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149383306503296,
        0.960392951965332,
        -1.5110749006271362,
        -1.4465487003326416,
        -0.7642402052879333,
        0.9965982437133789,
        0.7135260701179504,
        -0.1554449051618576,
        0.12152136862277985,
        0.3343278467655182,
        -0.9284963607788086,
        -0.1616169512271881,
        -0.9413486123085022,
        -0.3373028039932251,
        -0.009495493024587631
      ],
      "bottle_position_world": [
        0.16121897101402283,
        -0.11775674670934677,
        0.8377182483673096
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        0.0001857290044426918,
        3.866100450977683e-05,
        0.03784504160284996
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.55,
      "clearance_m": -0.0002554655075073242,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177110373973846,
      "action": [
        -0.00030015408992767334,
        -6.887689232826233e-05,
        -7.049739360809326e-05,
        -0.00024117715656757355,
        0.0001673474907875061,
        4.483666270971298e-05,
        0.9998403787612915
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149399399757385,
        0.9603956341743469,
        -1.5110749006271362,
        -1.44655179977417,
        -0.7642402052879333,
        0.9965984225273132,
        0.7135247588157654,
        -0.155445396900177,
        0.12152108550071716,
        0.334327757358551,
        -0.9284966588020325,
        -0.16161561012268066,
        -0.9413484930992126,
        -0.337303102016449,
        -0.009492563083767891
      ],
      "bottle_position_world": [
        0.161220982670784,
        -0.11776483803987503,
        0.837717592716217
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        0.00026972460909746587,
        5.637430149363354e-05,
        0.03784497082233429
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.600000000000001,
      "clearance_m": -0.00025343894958496094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617736518383026,
      "action": [
        -0.000450283259851858,
        -0.00013114139437675476,
        -5.59389591217041e-05,
        -0.00047739033470861614,
        0.00028289109468460083,
        -7.973052561283112e-06,
        0.9998404383659363
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149428009986877,
        0.9603998064994812,
        -1.5110749006271362,
        -1.4465588331222534,
        -0.7642385959625244,
        0.9965984225273132,
        0.713522732257843,
        -0.15544666349887848,
        0.12152113020420074,
        0.3343263268470764,
        -0.9284977316856384,
        -0.16161130368709564,
        -0.941348671913147,
        -0.33730238676071167,
        -0.00948651134967804
      ],
      "bottle_position_world": [
        0.16122177243232727,
        -0.11775299161672592,
        0.8377192616462708
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        0.0001472642325097695,
        6.85100894770585e-05,
        0.03784511238336563
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.65,
      "clearance_m": -0.0002461671829223633,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177095472812653,
      "action": [
        -0.00022524595260620117,
        -8.422508835792542e-05,
        3.363192081451416e-05,
        -0.0003375578671693802,
        0.0002443864941596985,
        -4.644785076379776e-05,
        0.999840259552002
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149428009986877,
        0.9603998064994812,
        -1.5110749006271362,
        -1.4465636014938354,
        -0.7642366290092468,
        0.996598482131958,
        0.7135222554206848,
        -0.15544790029525757,
        0.12152086198329926,
        0.33432459831237793,
        -0.9284990429878235,
        -0.16160789132118225,
        -0.9413492679595947,
        -0.33730098605155945,
        -0.009482953697443008
      ],
      "bottle_position_world": [
        0.16121351718902588,
        -0.11773863434791565,
        0.8377264142036438
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        -2.237499302282231e-06,
        -1.0279519301548135e-05,
        0.03784509375691414
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.700000000000001,
      "clearance_m": -0.0002391338348388672,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176415979862213,
      "action": [
        8.600950241088867e-05,
        0.00011621043086051941,
        0.00014597177505493164,
        -8.440949022769928e-05,
        -6.901472806930542e-05,
        -8.551869541406631e-05,
        0.9998401403427124
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149428009986877,
        0.9603998064994812,
        -1.5110749006271362,
        -1.4465636014938354,
        -0.7642349004745483,
        0.9965985417366028,
        0.7135222554206848,
        -0.15544790029525757,
        0.12152086198329926,
        0.3343229591846466,
        -0.9284995794296265,
        -0.16160790622234344,
        -0.9413498044013977,
        -0.3372994363307953,
        -0.009482678025960922
      ],
      "bottle_position_world": [
        0.16121572256088257,
        -0.11774099618196487,
        0.8377330899238586
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        2.3454691472579725e-05,
        1.0981274499499705e-05,
        0.03784484416246414
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.75,
      "clearance_m": -0.0002440810203552246,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177351772785187,
      "action": [
        4.953145980834961e-05,
        4.478916525840759e-05,
        0.0001376122236251831,
        -7.438845932483673e-05,
        -0.00027029961347579956,
        -0.0002699354663491249,
        0.9998400211334229
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149455428123474,
        0.9604037404060364,
        -1.511080026626587,
        -1.4465636014938354,
        -0.7642315030097961,
        0.9965982437133789,
        0.7135224342346191,
        -0.15544793009757996,
        0.12152121961116791,
        0.3343203663825989,
        -0.9285010695457458,
        -0.16160538792610168,
        -0.9413511157035828,
        -0.33729633688926697,
        -0.009484967216849327
      ],
      "bottle_position_world": [
        0.1612144410610199,
        -0.11772571504116058,
        0.8377285003662109
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        -0.00013348487846087664,
        4.103921583009651e-06,
        0.03784499689936638
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.8,
      "clearance_m": -0.0002493858337402344,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177451610565186,
      "action": [
        0.000364601582987234,
        0.00013985857367515564,
        0.00010932981967926025,
        0.0002396758645772934,
        -0.0002890750765800476,
        -0.00017051491886377335,
        0.9998399615287781
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149451851844788,
        0.9604020118713379,
        -1.511080026626587,
        -1.4465594291687012,
        -0.7642307877540588,
        0.9965982437133789,
        0.7135233879089355,
        -0.1554470956325531,
        0.12152209877967834,
        0.33431968092918396,
        -0.9285008907318115,
        -0.1616073101758957,
        -0.9413514137268066,
        -0.33729514479637146,
        -0.009488735347986221
      ],
      "bottle_position_world": [
        0.16121806204319,
        -0.11773684620857239,
        0.8377237915992737
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        -1.8233913579024374e-05,
        3.7254587368806824e-05,
        0.03784488886594772
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.850000000000001,
      "clearance_m": -0.0002397298812866211,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176696121692657,
      "action": [
        0.00014913082122802734,
        2.961978316307068e-05,
        -3.0621886253356934e-05,
        0.00015671364963054657,
        -0.00015004724264144897,
        -0.00010903272777795792,
        0.9998400807380676
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149451851844788,
        0.9604020118713379,
        -1.5110801458358765,
        -1.446557879447937,
        -0.7642307877540588,
        0.9965986609458923,
        0.7135235667228699,
        -0.15544672310352325,
        0.12152210623025894,
        0.3343196511268616,
        -0.9285006523132324,
        -0.1616082638502121,
        -0.9413512945175171,
        -0.33729496598243713,
        -0.009489983320236206
      ],
      "bottle_position_world": [
        0.1612190157175064,
        -0.11773497611284256,
        0.8377326726913452
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        -3.744619607459754e-05,
        4.7802983317524195e-05,
        0.03784457966685295
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.9,
      "clearance_m": -0.00024169683456420898,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16176855564117432,
      "action": [
        0.00014075636863708496,
        5.964189767837524e-06,
        8.61138105392456e-05,
        0.00013973377645015717,
        -0.00025259703397750854,
        -0.0002903202548623085,
        0.9998400211334229
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149458408355713,
        0.9604039788246155,
        -1.5110828876495361,
        -1.4465556144714355,
        -0.764228343963623,
        0.9965982437133789,
        0.7135238647460938,
        -0.15544617176055908,
        0.12152176350355148,
        0.3343173563480377,
        -0.9285012483596802,
        -0.1616092473268509,
        -0.9413521885871887,
        -0.3372924029827118,
        -0.009491987526416779
      ],
      "bottle_position_world": [
        0.1612156331539154,
        -0.11773331463336945,
        0.8377311825752258
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        -5.581277946475893e-05,
        1.4064556125958916e-05,
        0.037845004349946976
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 14.950000000000001,
      "clearance_m": -0.0002402663230895996,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1617674082517624,
      "action": [
        0.00019954144954681396,
        6.944313645362854e-05,
        8.915364742279053e-05,
        0.0001444052904844284,
        -0.0002892538905143738,
        -0.0002800086513161659,
        0.9998400211334229
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149465560913086,
        0.9604054093360901,
        -1.511085867881775,
        -1.4465528726577759,
        -0.7642256021499634,
        0.9965982437133789,
        0.713524580001831,
        -0.1554456204175949,
        0.12152202427387238,
        0.3343152105808258,
        -0.928502082824707,
        -0.16160956025123596,
        -0.9413532614707947,
        -0.3372897803783417,
        -0.009495129808783531
      ],
      "bottle_position_world": [
        0.16121695935726166,
        -0.11773350089788437,
        0.8377324938774109
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        -5.2929888624930754e-05,
        2.7816589863505214e-05,
        0.037844929844141006
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    },
    {
      "t_s": 15.0,
      "clearance_m": -0.00024837255477905273,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16177479922771454,
      "action": [
        0.00017789006233215332,
        2.586469054222107e-05,
        8.788704872131348e-05,
        0.0001361202448606491,
        -0.0002984926104545593,
        -0.0003182748332619667,
        0.9998399615287781
      ],
      "proprioception": [
        -3.554445743560791,
        -0.9149478077888489,
        0.9604078531265259,
        -1.5110893249511719,
        -1.4465504884719849,
        -0.7642226219177246,
        0.9965986609458923,
        0.713525116443634,
        -0.1554451286792755,
        0.12152217328548431,
        0.33431267738342285,
        -0.9285028576850891,
        -0.1616097241640091,
        -0.9413540959358215,
        -0.33728671073913574,
        -0.009498052299022675
      ],
      "bottle_position_world": [
        0.1612168699502945,
        -0.11773627996444702,
        0.8377235531806946
      ],
      "bottle_quaternion_world": [
        0.9992836713790894,
        -2.5052398996194825e-05,
        2.5834095140453428e-05,
        0.037844765931367874
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005094197113066912
    }
  ],
  "rate_denominator": false
}