{
  "checkpoint": "/home/sudhir/rl_training/results/teacher/runs/20260913T075521Z_servo125_contact_teacher_seed42/checkpoints/model_100.pt",
  "checkpoint_sha256": "1678580bd03d95595b817f1225961c8d14c478f9b363173e1f834d4941b53e1b",
  "scale": 0.0,
  "seeds": [
    1101
  ],
  "episodes_per_seed": 1,
  "num_envs": 1,
  "preset": {
    "randomization": {
      "enabled": true,
      "nominal_fraction": 0.1,
      "bottle_edge_margin_m": 0.05,
      "bottle_yaw_deg": 180.0,
      "table_xy_m": 0.15,
      "table_yaw_deg": 15,
      "robot_xy_m": 0.1,
      "robot_yaw_deg": 15,
      "initial_joint_deg": [
        15,
        10,
        10,
        15,
        15,
        30
      ],
      "initial_gripper_open_min": 0.85,
      "camera_xyz_m": 0,
      "camera_rotation_deg": 0,
      "camera_focal_fraction": 0,
      "camera_principal_px": [
        0,
        0
      ],
      "friction_scale": [
        0.7,
        1.3
      ],
      "bottle_mass_scale": [
        0.8,
        1.2
      ],
      "joint_damping_scale": [
        0.8,
        1.2
      ],
      "light_gain": [
        1,
        1
      ],
      "material_gain": [
        1,
        1
      ],
      "exposure_gain": [
        1,
        1
      ],
      "white_balance": [
        1,
        1
      ],
      "image_noise_std_255": 0
    },
    "dr_curriculum": {
      "enabled": true,
      "boundaries": [
        0,
        20000,
        50000,
        100000,
        200000
      ],
      "scales": [
        0.05,
        0.15,
        0.35,
        0.65,
        1.0
      ],
      "evaluation_scale": 1.0
    },
    "objective": {
      "lift_height_m": 0.1,
      "high_lift_height_m": 0.15,
      "hold_s": 2.0,
      "contact_force_n": 0.05,
      "max_hold_linear_speed": 0.15,
      "max_hold_angular_speed": 1.0,
      "max_penetration_m": 0.003,
      "hard_penetration_m": 0.02,
      "max_joint_speed": 1.57,
      "terminate_on_success": false,
      "contact_grace_s": 0.2,
      "capture_metrics": true
    },
    "goal": {
      "nominal_joint_pos": [
        -3.522548046633501,
        -1.1518142048840005,
        0.9810469344913387,
        -1.4231175467061197,
        -1.5491226335784967,
        -0.36253961360662956
      ],
      "half_width_m": [
        0.05,
        0.05,
        0.03
      ],
      "joint_spread_deg": [
        5.0,
        5.0,
        5.0,
        5.0,
        5.0,
        5.0
      ],
      "candidates": 16
    }
  },
  "nominal_fraction": 0,
  "filtering": "none",
  "video": true,
  "video_selection": "first complete world-0 episode of every listed seed; no outcome selection",
  "renderer": "native MuJoCo offscreen, same state task/controller; fragmented environment_visual scan hidden only in renderer copy",
  "reward_profile": "contact-lift-v1",
  "controller_overrides": {
    "max_dq": 0.02,
    "direction_preserving_dq": true,
    "target_period_substeps": 8
  },
  "seed": 1101,
  "world": 0,
  "outcome": "failure",
  "episode": {
    "success": 0.0,
    "high_success": 0.0,
    "max_clearance": 0.0004999637603759766,
    "best_hold_s": 0.0,
    "best_high_hold_s": 0.0,
    "ever_lifted": 0.0,
    "ever_dropped": 0.0,
    "ever_bad_contact": 1.0,
    "max_penetration": 0.0034548044204711914,
    "max_joint_speed": 0.47901803255081177,
    "max_force_ratio": 1.0,
    "nonfinite": 0.0,
    "elapsed_s": 15.000000953674316,
    "final_goal_error_m": 0.19936971366405487,
    "initial_layout_footprint_overlap": 0.0,
    "return_": 27.86289405822754,
    "dr_scale": 0.0,
    "bilateral_fraction": 0.0,
    "world": 0,
    "bottle_local_xy": [
      0.18000000715255737,
      -0.12999999523162842
    ],
    "terminated": false,
    "timeout": true,
    "bottle_x_bin": 2,
    "bottle_y_bin": 0,
    "invalid": true,
    "seed": 1101
  },
  "frames": [
    {
      "t_s": 0.05,
      "clearance_m": -0.0003268718719482422,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15978920459747314,
      "action": [
        0.1341889351606369,
        -1.0,
        -1.0,
        0.20644523203372955,
        -1.0,
        0.9046762585639954,
        1.0
      ],
      "proprioception": [
        -3.528158664703369,
        -1.157373309135437,
        0.9975879788398743,
        -1.4413909912109375,
        -1.543667197227478,
        -0.37623074650764465,
        0.9975739121437073,
        0.6563499569892883,
        -0.14110685884952545,
        0.26347023248672485,
        -0.009653220884501934,
        -0.9998548030853271,
        -0.014056358486413956,
        -0.9992178082466125,
        0.010184276849031448,
        -0.038212623447179794
      ],
      "bottle_position_world": [
        0.17999812960624695,
        -0.1300002634525299,
        0.8376520276069641
      ],
      "bottle_quaternion_world": [
        1.0,
        2.612520802358631e-06,
        -1.918527232191991e-05,
        -3.913120494303257e-08
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.1,
      "clearance_m": -0.0002275705337524414,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1597018986940384,
      "action": [
        0.8058394193649292,
        -1.0,
        -1.0,
        0.25534242391586304,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.5326786041259766,
        -1.1585500240325928,
        1.006736397743225,
        -1.456063151359558,
        -1.5380572080612183,
        -0.3890282213687897,
        0.9973143935203552,
        0.6580438017845154,
        -0.14333541691303253,
        0.26132604479789734,
        -0.0010717009427025914,
        -0.9998682737350464,
        -0.016205722466111183,
        -0.9989069700241089,
        0.0018277217168360949,
        -0.04670870304107666
      ],
      "bottle_position_world": [
        0.1800014227628708,
        -0.12999732792377472,
        0.8377459645271301
      ],
      "bottle_quaternion_world": [
        1.0,
        -2.6660254661692306e-05,
        1.4814461792411748e-05,
        9.638016251756198e-08
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.15000000000000002,
      "clearance_m": -0.00024312734603881836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15971776843070984,
      "action": [
        0.8838348388671875,
        -1.0,
        -1.0,
        0.27638164162635803,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.537184476852417,
        -1.159032940864563,
        1.015048623085022,
        -1.4703662395477295,
        -1.5320773124694824,
        -0.4018925726413727,
        0.9971634149551392,
        0.6599286794662476,
        -0.14554277062416077,
        0.2591160535812378,
        0.00765550322830677,
        -0.9997984766960144,
        -0.018560130149126053,
        -0.9984534978866577,
        -0.006620501168072224,
        -0.05519845336675644
      ],
      "bottle_position_world": [
        0.18000546097755432,
        -0.13000071048736572,
        0.8377290964126587
      ],
      "bottle_quaternion_world": [
        1.0,
        8.132223229040392e-06,
        5.651211540680379e-05,
        -1.0712147968661156e-06
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.2,
      "clearance_m": -0.00024694204330444336,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15971772372722626,
      "action": [
        0.8553463816642761,
        -1.0,
        -1.0,
        0.297396719455719,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.5419013500213623,
        -1.1594372987747192,
        1.0234136581420898,
        -1.4846962690353394,
        -1.5257339477539062,
        -0.4150085151195526,
        0.9970768690109253,
        0.6617958545684814,
        -0.14780792593955994,
        0.2568524479866028,
        0.016493290662765503,
        -0.999642550945282,
        -0.02105114609003067,
        -0.9978477954864502,
        -0.015119995921850204,
        -0.06380699574947357
      ],
      "bottle_position_world": [
        0.17999249696731567,
        -0.13000553846359253,
        0.837725043296814
      ],
      "bottle_quaternion_world": [
        1.0,
        5.7650511735118926e-05,
        -7.663487485842779e-05,
        -6.144289272924652e-07
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.25,
      "clearance_m": -0.000260770320892334,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15973132848739624,
      "action": [
        0.8128228187561035,
        -1.0,
        -1.0,
        0.3277019262313843,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.5468883514404297,
        -1.1597812175750732,
        1.0318933725357056,
        -1.4990088939666748,
        -1.5189605951309204,
        -0.4284037947654724,
        0.9970242381095886,
        0.6636159420013428,
        -0.15014295279979706,
        0.25451499223709106,
        0.02541554905474186,
        -0.9993946552276611,
        -0.023763135075569153,
        -0.9970889687538147,
        -0.023633187636733055,
        -0.07249398529529572
      ],
      "bottle_position_world": [
        0.18000106513500214,
        -0.1300077587366104,
        0.8377118706703186
      ],
      "bottle_quaternion_world": [
        1.0,
        8.009358134586364e-05,
        1.137602794187842e-05,
        1.2887784350823495e-06
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.30000000000000004,
      "clearance_m": -0.00025528669357299805,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15972872078418732,
      "action": [
        0.7681813836097717,
        -0.9177317023277283,
        -1.0,
        0.36122143268585205,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.551600694656372,
        -1.1600868701934814,
        1.0400563478469849,
        -1.5126099586486816,
        -1.512170672416687,
        -0.44108960032463074,
        0.9970055222511292,
        0.6653362512588501,
        -0.1522541642189026,
        0.2522508502006531,
        0.03395054489374161,
        -0.9990721940994263,
        -0.026496902108192444,
        -0.9962212443351746,
        -0.03170924261212349,
        -0.08085601776838303
      ],
      "bottle_position_world": [
        0.1799994260072708,
        -0.12999741733074188,
        0.8377171158790588
      ],
      "bottle_quaternion_world": [
        1.0,
        -2.585517540865112e-05,
        -5.703817350877216e-06,
        3.018193865500507e-06
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.35000000000000003,
      "clearance_m": -0.00025784969329833984,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1597318798303604,
      "action": [
        0.759541928768158,
        -0.8035491704940796,
        -1.0,
        0.4144859313964844,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.55631685256958,
        -1.1600433588027954,
        1.0482147932052612,
        -1.5262362957000732,
        -1.504815936088562,
        -0.45376405119895935,
        0.9969820976257324,
        0.6671448349952698,
        -0.15425686538219452,
        0.2497861683368683,
        0.04255631938576698,
        -0.9986538290977478,
        -0.029661307111382484,
        -0.9952152967453003,
        -0.039758894592523575,
        -0.08925185352563858
      ],
      "bottle_position_world": [
        0.18000197410583496,
        -0.1299952119588852,
        0.8377149105072021
      ],
      "bottle_quaternion_world": [
        1.0,
        -4.85777563881129e-05,
        2.1165247744647786e-05,
        4.627391263056779e-06
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.4,
      "clearance_m": -0.0002598762512207031,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15973077714443207,
      "action": [
        0.7117112874984741,
        -0.706571102142334,
        -1.0,
        0.4575756788253784,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.5610415935516357,
        -1.159905195236206,
        1.056695818901062,
        -1.5400131940841675,
        -1.496982455253601,
        -0.46643170714378357,
        0.9969725608825684,
        0.6689549088478088,
        -0.15614360570907593,
        0.2471419870853424,
        0.051232606172561646,
        -0.9981363415718079,
        -0.033154577016830444,
        -0.9940673112869263,
        -0.0477781668305397,
        -0.09771012514829636
      ],
      "bottle_position_world": [
        0.17999793589115143,
        -0.13000482320785522,
        0.8377125859260559
      ],
      "bottle_quaternion_world": [
        1.0,
        5.030252577853389e-05,
        -2.0096273146918975e-05,
        6.4700288930907845e-06
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.45,
      "clearance_m": -0.00025200843811035156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15972428023815155,
      "action": [
        0.6590390205383301,
        -0.6140474081039429,
        -1.0,
        0.4993683099746704,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.565765142440796,
        -1.1597267389297485,
        1.0656042098999023,
        -1.5539709329605103,
        -1.488696575164795,
        -0.4790686070919037,
        0.9969687461853027,
        0.6707402467727661,
        -0.1579028218984604,
        0.24430671334266663,
        0.05996619164943695,
        -0.9975159168243408,
        -0.03696331009268761,
        -0.9927793145179749,
        -0.05574558302760124,
        -0.1062159389257431
      ],
      "bottle_position_world": [
        0.17999592423439026,
        -0.1299966424703598,
        0.8377212882041931
      ],
      "bottle_quaternion_world": [
        1.0,
        -3.4063352359225973e-05,
        -4.1053259337786585e-05,
        8.24464405013714e-06
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.5,
      "clearance_m": -0.00025582313537597656,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1597307026386261,
      "action": [
        0.604166567325592,
        -0.5260878801345825,
        -1.0,
        0.5396747589111328,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.5701441764831543,
        -1.1596660614013672,
        1.074424386024475,
        -1.5673233270645142,
        -1.4804942607879639,
        -0.49092596769332886,
        0.9969826936721802,
        0.6723874807357788,
        -0.1593908816576004,
        0.241545632481575,
        0.068302683532238,
        -0.9968318939208984,
        -0.040756795555353165,
        -0.9914186000823975,
        -0.06325423717498779,
        -0.11440352350473404
      ],
      "bottle_position_world": [
        0.18000639975070953,
        -0.12999670207500458,
        0.8377166986465454
      ],
      "bottle_quaternion_world": [
        1.0,
        -3.3505162718938664e-05,
        6.656211917288601e-05,
        1.0017071872425731e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.55,
      "clearance_m": -0.00025904178619384766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15972930192947388,
      "action": [
        0.5927990674972534,
        -0.4251505136489868,
        -1.0,
        0.5927873849868774,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.5744199752807617,
        -1.159351110458374,
        1.083402395248413,
        -1.580721139907837,
        -1.4717963933944702,
        -0.50254887342453,
        0.9969770908355713,
        0.6740856170654297,
        -0.1606920063495636,
        0.23857155442237854,
        0.07659775018692017,
        -0.996046781539917,
        -0.04498744755983353,
        -0.989943265914917,
        -0.0705912709236145,
        -0.12259462475776672
      ],
      "bottle_position_world": [
        0.1799953132867813,
        -0.13000500202178955,
        0.8377135396003723
      ],
      "bottle_quaternion_world": [
        1.0,
        5.198857979848981e-05,
        -4.7170226025627926e-05,
        1.1915579307242297e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.6000000000000001,
      "clearance_m": -0.0002573728561401367,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1597321778535843,
      "action": [
        0.5354419946670532,
        -0.3505140542984009,
        -1.0,
        0.627906858921051,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.5786585807800293,
        -1.1591511964797974,
        1.0930198431015015,
        -1.5943914651870728,
        -1.4627209901809692,
        -0.5141323804855347,
        0.9969810843467712,
        0.6757078170776367,
        -0.16183313727378845,
        0.2354157269001007,
        0.08497276902198792,
        -0.9951543807983398,
        -0.049475885927677155,
        -0.9883376955986023,
        -0.07788506150245667,
        -0.13085433840751648
      ],
      "bottle_position_world": [
        0.1800040751695633,
        -0.12999466061592102,
        0.837715208530426
      ],
      "bottle_quaternion_world": [
        1.0,
        -5.421237801783718e-05,
        4.2316907638451084e-05,
        1.3635732102557085e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.65,
      "clearance_m": -0.0002594590187072754,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15973012149333954,
      "action": [
        0.47934865951538086,
        -0.2850181758403778,
        -1.0,
        0.6604079604148865,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.5828733444213867,
        -1.159101128578186,
        1.1033105850219727,
        -1.6083241701126099,
        -1.453298807144165,
        -0.5256782174110413,
        0.9969863891601562,
        0.6772305965423584,
        -0.16282030940055847,
        0.23208484053611755,
        0.09341416507959366,
        -0.9941512942314148,
        -0.05419943109154701,
        -0.986603856086731,
        -0.0851176530122757,
        -0.1391705572605133
      ],
      "bottle_position_world": [
        0.17999103665351868,
        -0.1300002634525299,
        0.8377130627632141
      ],
      "bottle_quaternion_world": [
        1.0,
        4.4514449655252974e-06,
        -9.140082693193108e-05,
        1.5577246813336387e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.7000000000000001,
      "clearance_m": -0.0002606511116027832,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1597362756729126,
      "action": [
        0.42316925525665283,
        -0.22495365142822266,
        -1.0,
        0.6905778646469116,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.5867764949798584,
        -1.1593310832977295,
        1.1136113405227661,
        -1.6217087507247925,
        -1.4441235065460205,
        -0.5365124940872192,
        0.9970110058784485,
        0.6785644292831421,
        -0.16357530653476715,
        0.22889021039009094,
        0.10147027671337128,
        -0.9931018352508545,
        -0.058761440217494965,
        -0.9848271012306213,
        -0.0919150784611702,
        -0.14719927310943604
      ],
      "bottle_position_world": [
        0.18000295758247375,
        -0.12998948991298676,
        0.8377120494842529
      ],
      "bottle_quaternion_world": [
        1.0,
        -0.0001060618888004683,
        3.0431594495894387e-05,
        1.7725224097375758e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.75,
      "clearance_m": -0.00026106834411621094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15973354876041412,
      "action": [
        0.4206647276878357,
        -0.14938616752624512,
        -1.0,
        0.7337867021560669,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.590535879135132,
        -1.1593645811080933,
        1.1240497827529907,
        -1.635095238685608,
        -1.434554934501648,
        -0.5471774339675903,
        0.9970057606697083,
        0.6799235343933105,
        -0.16412591934204102,
        0.225530207157135,
        0.10957928746938705,
        -0.9919366240501404,
        -0.06367385387420654,
        -0.9829412698745728,
        -0.09862028807401657,
        -0.15524347126483917
      ],
      "bottle_position_world": [
        0.18000800907611847,
        -0.13000521063804626,
        0.8377116918563843
      ],
      "bottle_quaternion_world": [
        1.0,
        5.461702312459238e-05,
        8.250385144492611e-05,
        1.997069557546638e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.8,
      "clearance_m": -0.00026035308837890625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1597314476966858,
      "action": [
        0.36890023946762085,
        -0.10890486091375351,
        -1.0,
        0.7563120722770691,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.594310760498047,
        -1.1595978736877441,
        1.1351449489593506,
        -1.648730754852295,
        -1.4246983528137207,
        -0.557884931564331,
        0.9970107674598694,
        0.6811584830284119,
        -0.16455313563346863,
        0.22203664481639862,
        0.11778496205806732,
        -0.9906564950942993,
        -0.06875042617321014,
        -0.9809292554855347,
        -0.10529032349586487,
        -0.16337613761425018
      ],
      "bottle_position_world": [
        0.17999617755413055,
        -0.1300022155046463,
        0.8377122282981873
      ],
      "bottle_quaternion_world": [
        1.0,
        2.4223330910899676e-05,
        -3.856930561596528e-05,
        2.209556805610191e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.8500000000000001,
      "clearance_m": -0.00026035308837890625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15973322093486786,
      "action": [
        0.32218027114868164,
        -0.07498618215322495,
        -1.0,
        0.7765843272209167,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.5981204509735107,
        -1.1600077152252197,
        1.1468350887298584,
        -1.66256844997406,
        -1.414576530456543,
        -0.5686494708061218,
        0.9970147609710693,
        0.6822656989097595,
        -0.1648750603199005,
        0.21842169761657715,
        0.1260777860879898,
        -0.9892587661743164,
        -0.07397080957889557,
        -0.9787915945053101,
        -0.11191345751285553,
        -0.1715882122516632
      ],
      "bottle_position_world": [
        0.1799951195716858,
        -0.1299949586391449,
        0.8377121090888977
      ],
      "bottle_quaternion_world": [
        1.0,
        -5.019930540584028e-05,
        -5.009551387047395e-05,
        2.3968128516571596e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.9,
      "clearance_m": -0.00025957822799682617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15973147749900818,
      "action": [
        0.27989882230758667,
        -0.04752647131681442,
        -1.0,
        0.7943950295448303,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.601714611053467,
        -1.1606271266937256,
        1.1582757234573364,
        -1.675772786140442,
        -1.404813528060913,
        -0.5788493752479553,
        0.9970365762710571,
        0.6832063794136047,
        -0.165072500705719,
        0.21501292288303375,
        0.1340116709470749,
        -0.9878332018852234,
        -0.07890777289867401,
        -0.9766303896903992,
        -0.118150494992733,
        -0.17953717708587646
      ],
      "bottle_position_world": [
        0.17999620735645294,
        -0.12999886274337769,
        0.8377131223678589
      ],
      "bottle_quaternion_world": [
        1.0,
        -9.753306585480459e-06,
        -3.8761019823141396e-05,
        2.6022462407127023e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 0.9500000000000001,
      "clearance_m": -0.00025141239166259766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1597243696451187,
      "action": [
        0.29448413848876953,
        0.003573112189769745,
        -1.0,
        0.8259872198104858,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6051876544952393,
        -1.1609457731246948,
        1.16960608959198,
        -1.6888808012008667,
        -1.3947314023971558,
        -0.5889365077018738,
        0.9970260858535767,
        0.6842007637023926,
        -0.16511549055576324,
        0.21148581802845,
        0.14201724529266357,
        -0.9862838983535767,
        -0.08411592245101929,
        -0.9743629693984985,
        -0.1243077963590622,
        -0.18752186000347137
      ],
      "bottle_position_world": [
        0.1800033450126648,
        -0.13000380992889404,
        0.8377208113670349
      ],
      "bottle_quaternion_world": [
        1.0,
        4.104825347894803e-05,
        3.494707925710827e-05,
        2.7515721740201116e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.0,
      "clearance_m": -0.00023216009140014648,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15970444679260254,
      "action": [
        0.2569029927253723,
        0.01676810532808304,
        -1.0,
        0.8364959359169006,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6087424755096436,
        -1.1613655090332031,
        1.1813726425170898,
        -1.702148675918579,
        -1.3844178915023804,
        -0.5991730690002441,
        0.997025728225708,
        0.6850883960723877,
        -0.16510674357414246,
        0.20786385238170624,
        0.15014393627643585,
        -0.9846131205558777,
        -0.08941009640693665,
        -0.9719657897949219,
        -0.13045208156108856,
        -0.19561469554901123
      ],
      "bottle_position_world": [
        0.17999887466430664,
        -0.130004420876503,
        0.8377407789230347
      ],
      "bottle_quaternion_world": [
        1.0,
        4.728599014924839e-05,
        -1.099700511986157e-05,
        2.8200825909152627e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.05,
      "clearance_m": -0.0002492666244506836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15972352027893066,
      "action": [
        0.22390484809875488,
        0.025987006723880768,
        -1.0,
        0.8457534909248352,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6123979091644287,
        -1.1618454456329346,
        1.1935038566589355,
        -1.7155309915542603,
        -1.3738902807235718,
        -0.6095702052116394,
        0.997024655342102,
        0.6858723163604736,
        -0.16506679356098175,
        0.20415107905864716,
        0.15837788581848145,
        -0.9828195571899414,
        -0.09477666020393372,
        -0.9694399833679199,
        -0.13656844198703766,
        -0.20380248129367828
      ],
      "bottle_position_world": [
        0.18001006543636322,
        -0.13000273704528809,
        0.837723433971405
      ],
      "bottle_quaternion_world": [
        1.0,
        3.003734309459105e-05,
        0.00010412636765977368,
        2.7752954338211566e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.1,
      "clearance_m": -0.00024890899658203125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1597217321395874,
      "action": [
        0.19449199736118317,
        0.03285130113363266,
        -1.0,
        0.8526838421821594,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.615896463394165,
        -1.1624207496643066,
        1.2051599025726318,
        -1.7282452583312988,
        -1.3637897968292236,
        -0.6195080876350403,
        0.9970402121543884,
        0.6865379810333252,
        -0.16498695313930511,
        0.20067396759986877,
        0.16627733409404755,
        -0.98101806640625,
        -0.09977782517671585,
        -0.9669033288955688,
        -0.1423489898443222,
        -0.2117423415184021
      ],
      "bottle_position_world": [
        0.17999915778636932,
        -0.13000112771987915,
        0.837723433971405
      ],
      "bottle_quaternion_world": [
        1.0,
        1.2553487067634705e-05,
        -7.187696610344574e-06,
        2.8529677365440875e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.1500000000000001,
      "clearance_m": -0.00025159120559692383,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15972597897052765,
      "action": [
        0.22418148815631866,
        0.07082612067461014,
        -1.0,
        0.8756348490715027,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6192784309387207,
        -1.1625680923461914,
        1.2165026664733887,
        -1.740816354751587,
        -1.353416919708252,
        -0.6293678283691406,
        0.9970257878303528,
        0.687300443649292,
        -0.16479165852069855,
        0.19709385931491852,
        0.17426258325576782,
        -0.9790856838226318,
        -0.10499677807092667,
        -0.9642599821090698,
        -0.14806009829044342,
        -0.21973007917404175
      ],
      "bottle_position_world": [
        0.18000753223896027,
        -0.13000105321407318,
        0.8377207517623901
      ],
      "bottle_quaternion_world": [
        1.0,
        1.1847640053019859e-05,
        7.93768122093752e-05,
        2.829746881616302e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.2000000000000002,
      "clearance_m": -0.0002562403678894043,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15973003208637238,
      "action": [
        0.19557256996631622,
        0.06998828798532486,
        -1.0,
        0.8763275146484375,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.622774839401245,
        -1.1627283096313477,
        1.2281419038772583,
        -1.7535136938095093,
        -1.3428515195846558,
        -0.6394450068473816,
        0.997021496295929,
        0.6879778504371643,
        -0.16459086537361145,
        0.19342944025993347,
        0.18238644301891327,
        -0.9770272374153137,
        -0.11024253070354462,
        -0.961479902267456,
        -0.15377630293369293,
        -0.22783659398555756
      ],
      "bottle_position_world": [
        0.1800004243850708,
        -0.12999659776687622,
        0.8377161622047424
      ],
      "bottle_quaternion_world": [
        1.0,
        -3.396179818082601e-05,
        6.085677341616247e-06,
        2.887366099457722e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.25,
      "clearance_m": -0.00024956464767456055,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15972408652305603,
      "action": [
        0.1697944700717926,
        0.06814809888601303,
        -1.0,
        0.8768290877342224,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6263952255249023,
        -1.1628745794296265,
        1.2400338649749756,
        -1.7663029432296753,
        -1.3321069478988647,
        -0.6497423052787781,
        0.9970175623893738,
        0.6885700225830078,
        -0.16439589858055115,
        0.18968209624290466,
        0.19063526391983032,
        -0.9748417735099792,
        -0.11550669372081757,
        -0.9585647583007812,
        -0.1594834327697754,
        -0.23604802787303925
      ],
      "bottle_position_world": [
        0.18000738322734833,
        -0.13000066578388214,
        0.8377228379249573
      ],
      "bottle_quaternion_world": [
        1.0,
        8.125936801661737e-06,
        7.753763202344999e-05,
        2.92227905447362e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.3,
      "clearance_m": -0.00023096799850463867,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1597040295600891,
      "action": [
        0.14505600929260254,
        0.06472238153219223,
        -1.0,
        0.8761094212532043,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6298866271972656,
        -1.1630865335464478,
        1.2513879537582397,
        -1.7784477472305298,
        -1.3218297958374023,
        -0.6596433520317078,
        0.9970293641090393,
        0.6890681982040405,
        -0.16420415043830872,
        0.18617954850196838,
        0.1985660046339035,
        -0.9726697206497192,
        -0.12035654485225677,
        -0.9556488394737244,
        -0.16489693522453308,
        -0.24401791393756866
      ],
      "bottle_position_world": [
        0.18000030517578125,
        -0.13000258803367615,
        0.837742030620575
      ],
      "bottle_quaternion_world": [
        1.0,
        2.7661086278385483e-05,
        5.268201675789896e-06,
        2.9017413908150047e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.35,
      "clearance_m": -0.00024378299713134766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15971675515174866,
      "action": [
        0.1828719973564148,
        0.0968722328543663,
        -1.0,
        0.8939598798751831,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.633255958557129,
        -1.1627986431121826,
        1.262341022491455,
        -1.7904449701309204,
        -1.3113071918487549,
        -0.6694825291633606,
        0.997011661529541,
        0.6896876692771912,
        -0.16391555964946747,
        0.18257328867912292,
        0.20658785104751587,
        -0.9703598022460938,
        -0.12539485096931458,
        -0.9526247382164001,
        -0.17024220526218414,
        -0.2520397901535034
      ],
      "bottle_position_world": [
        0.18000245094299316,
        -0.13000380992889404,
        0.8377286791801453
      ],
      "bottle_quaternion_world": [
        1.0,
        4.0221984818344936e-05,
        2.7536672860151157e-05,
        2.9997368983458728e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.4000000000000001,
      "clearance_m": -0.000244140625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1597180962562561,
      "action": [
        0.15676569938659668,
        0.09011528640985489,
        -1.0,
        0.8875259757041931,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6367499828338623,
        -1.1624910831451416,
        1.273550033569336,
        -1.8025678396224976,
        -1.3006188869476318,
        -0.679583728313446,
        0.9970054030418396,
        0.690227210521698,
        -0.1636400818824768,
        0.17888455092906952,
        0.2147637903690338,
        -0.967919647693634,
        -0.13041509687900543,
        -0.9494549036026001,
        -0.1756100207567215,
        -0.2601858377456665
      ],
      "bottle_position_world": [
        0.17999841272830963,
        -0.12999677658081055,
        0.8377283215522766
      ],
      "bottle_quaternion_world": [
        1.0,
        -3.2359173928853124e-05,
        -1.3681254131370224e-05,
        2.9564091164502315e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.4500000000000002,
      "clearance_m": -0.00024199485778808594,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15971511602401733,
      "action": [
        0.13258421421051025,
        0.0823797658085823,
        -1.0,
        0.8818952441215515,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.640385150909424,
        -1.1621437072753906,
        1.2849794626235962,
        -1.814780354499817,
        -1.2897756099700928,
        -0.6899520754814148,
        0.9969987869262695,
        0.6906834244728088,
        -0.16339148581027985,
        0.1751146763563156,
        0.2230747789144516,
        -0.9653503894805908,
        -0.13541275262832642,
        -0.9461423754692078,
        -0.18098105490207672,
        -0.26844143867492676
      ],
      "bottle_position_world": [
        0.18000586330890656,
        -0.13000325858592987,
        0.8377313017845154
      ],
      "bottle_quaternion_world": [
        1.0,
        3.453050157986581e-05,
        6.314676284091547e-05,
        2.8240074243512936e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.5,
      "clearance_m": -0.00024706125259399414,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15972083806991577,
      "action": [
        0.10871728509664536,
        0.07451451569795609,
        -1.0,
        0.8754017949104309,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6439008712768555,
        -1.1618766784667969,
        1.2958776950836182,
        -1.8263845443725586,
        -1.2794265747070312,
        -0.6999595165252686,
        0.997005045413971,
        0.6910561323165894,
        -0.16316506266593933,
        0.1715945303440094,
        0.2310771644115448,
        -0.9628152251243591,
        -0.13996557891368866,
        -0.9428370594978333,
        -0.1860937774181366,
        -0.2764551639556885
      ],
      "bottle_position_world": [
        0.17999614775180817,
        -0.12999528646469116,
        0.8377253413200378
      ],
      "bottle_quaternion_world": [
        1.0,
        -4.758898649015464e-05,
        -3.6788736906601116e-05,
        2.7555315682548098e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.55,
      "clearance_m": -0.0002543926239013672,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15972895920276642,
      "action": [
        0.15283070504665375,
        0.10689472407102585,
        -1.0,
        0.8897045850753784,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6472666263580322,
        -1.1610649824142456,
        1.3063288927078247,
        -1.837853193283081,
        -1.2688534259796143,
        -0.7098963856697083,
        0.9969837069511414,
        0.6915691494941711,
        -0.16283965110778809,
        0.16796879470348358,
        0.23917405307292938,
        -0.9601367712020874,
        -0.14468476176261902,
        -0.9394214153289795,
        -0.19113846123218536,
        -0.2845236361026764
      ],
      "bottle_position_world": [
        0.18000935018062592,
        -0.12999941408634186,
        0.8377184271812439
      ],
      "bottle_quaternion_world": [
        1.0,
        -4.836398602492409e-06,
        9.91036431514658e-05,
        2.622488682391122e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.6,
      "clearance_m": -0.000255584716796875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1597243696451187,
      "action": [
        0.1263597011566162,
        0.09620092064142227,
        -1.0,
        0.8770606517791748,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.650768280029297,
        -1.160224437713623,
        1.317029595375061,
        -1.849453091621399,
        -1.2581384181976318,
        -0.7201383113861084,
        0.9969753623008728,
        0.6919986009597778,
        -0.16254092752933502,
        0.16426056623458862,
        0.24743591248989105,
        -0.9573255181312561,
        -0.1493433713912964,
        -0.9358490109443665,
        -0.1962207406759262,
        -0.2927185297012329
      ],
      "bottle_position_world": [
        0.1799904853105545,
        -0.13000768423080444,
        0.8377169966697693
      ],
      "bottle_quaternion_world": [
        1.0,
        8.063373388722539e-05,
        -9.455346298636869e-05,
        2.6713882107287645e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.6500000000000001,
      "clearance_m": -0.00025540590286254883,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15972544252872467,
      "action": [
        0.1000443696975708,
        0.08625923842191696,
        -1.0,
        0.866127073764801,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6544198989868164,
        -1.1593542098999023,
        1.3279699087142944,
        -1.8611531257629395,
        -1.2472909688949585,
        -0.7306879162788391,
        0.9969688057899475,
        0.6923344135284424,
        -0.16227708756923676,
        0.16047127544879913,
        0.25584253668785095,
        -0.954383373260498,
        -0.15393970906734467,
        -0.9321236610412598,
        -0.20132099092006683,
        -0.30102407932281494
      ],
      "bottle_position_world": [
        0.17999497056007385,
        -0.13000573217868805,
        0.8377173542976379
      ],
      "bottle_quaternion_world": [
        1.0,
        6.0840735386591405e-05,
        -4.826386793865822e-05,
        2.607424721645657e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.7000000000000002,
      "clearance_m": -0.0002599954605102539,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15973049402236938,
      "action": [
        0.07560169696807861,
        0.07596663385629654,
        -1.0,
        0.8547361493110657,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6579558849334717,
        -1.1585943698883057,
        1.3384051322937012,
        -1.8722777366638184,
        -1.2369567155838013,
        -0.7409003376960754,
        0.9969744086265564,
        0.6925915479660034,
        -0.16204459965229034,
        0.15693697333335876,
        0.26394709944725037,
        -0.9514967203140259,
        -0.15807034075260162,
        -0.9284130930900574,
        -0.20619618892669678,
        -0.30908358097076416
      ],
      "bottle_position_world": [
        0.1799858659505844,
        -0.12999695539474487,
        0.8377124667167664
      ],
      "bottle_quaternion_world": [
        1.0,
        -2.9533281121985056e-05,
        -0.00014277615991886705,
        2.7513675377122127e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.75,
      "clearance_m": -0.0002586245536804199,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15973219275474548,
      "action": [
        0.12464234232902527,
        0.10927864164113998,
        -1.0,
        0.8662468194961548,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.661316156387329,
        -1.1572562456130981,
        1.3483633995056152,
        -1.8832844495773315,
        -1.2264169454574585,
        -0.7510328888893127,
        0.9969567060470581,
        0.6930035948753357,
        -0.16170962154865265,
        0.1532931625843048,
        0.2721462845802307,
        -0.9484617710113525,
        -0.1623472422361374,
        -0.9245878458023071,
        -0.21100136637687683,
        -0.31719955801963806
      ],
      "bottle_position_world": [
        0.18000997602939606,
        -0.1300041675567627,
        0.8377138376235962
      ],
      "bottle_quaternion_world": [
        1.0,
        4.369201633380726e-05,
        0.00010431178088765591,
        2.9169072149670683e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.8,
      "clearance_m": -0.00026088953018188477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.159728541970253,
      "action": [
        0.09694702923297882,
        0.09560518711805344,
        -1.0,
        0.8475667238235474,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6648194789886475,
        -1.1558890342712402,
        1.3585741519927979,
        -1.8944286108016968,
        -1.2157601118087769,
        -0.7615138292312622,
        0.9969497919082642,
        0.6933256983757019,
        -0.1614104062318802,
        0.14956703782081604,
        0.28052330017089844,
        -0.9452930688858032,
        -0.16651739180088043,
        -0.920592188835144,
        -0.2158651351928711,
        -0.32544219493865967
      ],
      "bottle_position_world": [
        0.18000133335590363,
        -0.13001848757266998,
        0.8377119302749634
      ],
      "bottle_quaternion_world": [
        1.0,
        0.00019162292301189154,
        1.641022572584916e-05,
        3.098297383985482e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.85,
      "clearance_m": -0.00025969743728637695,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.159730464220047,
      "action": [
        0.06896412372589111,
        0.08262989670038223,
        -1.0,
        0.830786406993866,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.668484687805176,
        -1.1544955968856812,
        1.369032859802246,
        -1.9056776762008667,
        -1.2049973011016846,
        -0.7723485231399536,
        0.9969441890716553,
        0.6935449242591858,
        -0.1611580103635788,
        0.14576075971126556,
        0.28905361890792847,
        -0.9419930577278137,
        -0.17057904601097107,
        -0.9164304733276367,
        -0.22076544165611267,
        -0.33379295468330383
      ],
      "bottle_position_world": [
        0.17999163269996643,
        -0.1300002634525299,
        0.837712824344635
      ],
      "bottle_quaternion_world": [
        1.0,
        5.575520845013671e-06,
        -8.330634591402486e-05,
        3.326997102703899e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.9000000000000001,
      "clearance_m": -0.0002598762512207031,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15973080694675446,
      "action": [
        0.04477720707654953,
        0.07110977917909622,
        -1.0,
        0.813722550868988,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.672030448913574,
        -1.1532413959503174,
        1.379003882408142,
        -1.9163810014724731,
        -1.1947675943374634,
        -0.7828589677810669,
        0.9969511032104492,
        0.6936935782432556,
        -0.16094180941581726,
        0.14221498370170593,
        0.2972874343395233,
        -0.93877112865448,
        -0.17415274679660797,
        -0.9122885465621948,
        -0.22547614574432373,
        -0.34189215302467346
      ],
      "bottle_position_world": [
        0.17998960614204407,
        -0.1299973428249359,
        0.837712824344635
      ],
      "bottle_quaternion_world": [
        1.0,
        -2.449041130603291e-05,
        -0.00010424495121696964,
        3.570333865354769e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 1.9500000000000002,
      "clearance_m": -0.00026035308837890625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15972939133644104,
      "action": [
        0.09687963128089905,
        0.10552703589200974,
        -1.0,
        0.8223356604576111,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.675377368927002,
        -1.1513895988464355,
        1.3884928226470947,
        -1.9269953966140747,
        -1.1843504905700684,
        -0.7932845950126648,
        0.9969374537467957,
        0.6940051317214966,
        -0.16061805188655853,
        0.1385534554719925,
        0.3056170344352722,
        -0.9353970289230347,
        -0.17785018682479858,
        -0.908026397228241,
        -0.23011863231658936,
        -0.35004785656929016
      ],
      "bottle_position_world": [
        0.18000303208827972,
        -0.1300148069858551,
        0.8377124071121216
      ],
      "bottle_quaternion_world": [
        1.0,
        0.00015388466999866068,
        3.3754429750842974e-05,
        3.798862235271372e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 2.0,
      "clearance_m": -0.00026047229766845703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15972982347011566,
      "action": [
        0.06677913665771484,
        0.09152474254369736,
        -1.0,
        0.7973985075950623,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.678866386413574,
        -1.1495251655578613,
        1.3982566595077515,
        -1.9377617835998535,
        -1.1738473176956177,
        -0.8040937185287476,
        0.9969322085380554,
        0.6942159533500671,
        -0.16033190488815308,
        0.13481184840202332,
        0.314134418964386,
        -0.9318898916244507,
        -0.18138708174228668,
        -0.9035767316818237,
        -0.23484398424625397,
        -0.3583265542984009
      ],
      "bottle_position_world": [
        0.18000084161758423,
        -0.13001210987567902,
        0.8377122282981873
      ],
      "bottle_quaternion_world": [
        1.0,
        0.00012619368499144912,
        1.1279100363026373e-05,
        4.049806739203632e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 2.0500000000000003,
      "clearance_m": -0.00026100873947143555,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15973494946956635,
      "action": [
        0.038522765040397644,
        0.07640417665243149,
        -1.0,
        0.7743139863014221,
        -0.9930718541145325,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6825177669525146,
        -1.147609829902649,
        1.4082109928131104,
        -1.948563575744629,
        -1.1632723808288574,
        -0.8153191804885864,
        0.9969278573989868,
        0.6943207383155823,
        -0.1601000279188156,
        0.13099271059036255,
        0.322829931974411,
        -0.9282433390617371,
        -0.18478478491306305,
        -0.8989510536193848,
        -0.23964712023735046,
        -0.36668309569358826
      ],
      "bottle_position_world": [
        0.180010125041008,
        -0.13000211119651794,
        0.83771151304245
      ],
      "bottle_quaternion_world": [
        1.0,
        2.2916958187124692e-05,
        0.0001070502694346942,
        4.295053076930344e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 2.1,
      "clearance_m": -0.00026094913482666016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15973138809204102,
      "action": [
        0.014166414737701416,
        0.062181256711483,
        -1.0,
        0.7503779530525208,
        -0.9218536019325256,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.686044692993164,
        -1.1456387042999268,
        1.4172159433364868,
        -1.9580466747283936,
        -1.1532729864120483,
        -0.8265500068664551,
        0.996910035610199,
        0.6943433880805969,
        -0.15990333259105682,
        0.12742581963539124,
        0.3314269483089447,
        -0.9245695471763611,
        -0.18795637786388397,
        -0.894422709941864,
        -0.24449314177036285,
        -0.37447479367256165
      ],
      "bottle_position_world": [
        0.17999495565891266,
        -0.13000358641147614,
        0.8377116322517395
      ],
      "bottle_quaternion_world": [
        1.0,
        3.924234624719247e-05,
        -4.8687121307011694e-05,
        4.528983845375478e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 2.15,
      "clearance_m": -0.0002592802047729492,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1597289890050888,
      "action": [
        0.07163296639919281,
        0.09245722740888596,
        -1.0,
        0.7592195272445679,
        -0.8622061610221863,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.689359188079834,
        -1.1428085565567017,
        1.4252214431762695,
        -1.966751217842102,
        -1.1431300640106201,
        -0.8378154039382935,
        0.9968872666358948,
        0.6945465803146362,
        -0.159615159034729,
        0.12373587489128113,
        0.34013697504997253,
        -0.9206676483154297,
        -0.19151486456394196,
        -0.8898810744285583,
        -0.24928882718086243,
        -0.38205575942993164
      ],
      "bottle_position_world": [
        0.17999832332134247,
        -0.1300089806318283,
        0.8377134203910828
      ],
      "bottle_quaternion_world": [
        1.0,
        9.410587517777458e-05,
        -1.3470470548782032e-05,
        4.750625157612376e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 2.2,
      "clearance_m": -0.0002588629722595215,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15973104536533356,
      "action": [
        0.04343733191490173,
        0.0761684849858284,
        -0.9944013953208923,
        0.7294780611991882,
        -0.7705996036529541,
        0.9935590624809265,
        1.0
      ],
      "proprioception": [
        -3.6927859783172607,
        -1.1396234035491943,
        1.432724952697754,
        -1.9744770526885986,
        -1.1330031156539917,
        -0.8498760461807251,
        0.9968717694282532,
        0.6946550607681274,
        -0.15937376022338867,
        0.11997243016958237,
        0.34926196932792664,
        -0.9164618849754333,
        -0.19522683322429657,
        -0.8852490186691284,
        -0.25442418456077576,
        -0.3893614709377289
      ],
      "bottle_position_world": [
        0.1799965798854828,
        -0.12999820709228516,
        0.8377138376235962
      ],
      "bottle_quaternion_world": [
        1.0,
        -1.529817200207617e-05,
        -3.150602788082324e-05,
        4.962503589922562e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 2.25,
      "clearance_m": -0.0002416372299194336,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15971338748931885,
      "action": [
        0.017018303275108337,
        0.05333223193883896,
        -0.8558641672134399,
        0.70108562707901,
        -0.6651017069816589,
        0.9585053324699402,
        1.0
      ],
      "proprioception": [
        -3.696394681930542,
        -1.136377215385437,
        1.4387608766555786,
        -1.9798130989074707,
        -1.1228607892990112,
        -0.8626320958137512,
        0.9968521595001221,
        0.6946630477905273,
        -0.15922068059444427,
        0.11664468050003052,
        0.35861316323280334,
        -0.9119697213172913,
        -0.1992688775062561,
        -0.8806180357933044,
        -0.25968578457832336,
        -0.3963271975517273
      ],
      "bottle_position_world": [
        0.18000008165836334,
        -0.1300017088651657,
        0.8377323150634766
      ],
      "bottle_quaternion_world": [
        1.0,
        1.984825030376669e-05,
        4.178623385087121e-06,
        4.9667789426166564e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 2.3000000000000003,
      "clearance_m": -0.0002314448356628418,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1597064733505249,
      "action": [
        0.019626975059509277,
        0.0062521472573280334,
        -0.7098444104194641,
        0.6400477290153503,
        -0.521213710308075,
        0.910933256149292,
        1.0
      ],
      "proprioception": [
        -3.6998612880706787,
        -1.1330268383026123,
        1.4422231912612915,
        -1.9819191694259644,
        -1.113515853881836,
        -0.8754838109016418,
        0.996829628944397,
        0.694704532623291,
        -0.15922273695468903,
        0.11406805366277695,
        0.3678177297115326,
        -0.9074149131774902,
        -0.203245148062706,
        -0.8762397766113281,
        -0.265041708946228,
        -0.4024388790130615
      ],
      "bottle_position_world": [
        0.17999966442584991,
        -0.12999391555786133,
        0.8377416729927063
      ],
      "bottle_quaternion_world": [
        1.0,
        -5.978929402772337e-05,
        -3.691691574658762e-07,
        4.980555604561232e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 2.35,
      "clearance_m": -0.00022482872009277344,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15969979763031006,
      "action": [
        0.08389592170715332,
        0.0022931620478630066,
        -0.6648439764976501,
        0.6030576229095459,
        -0.40252241492271423,
        0.920741856098175,
        1.0
      ],
      "proprioception": [
        -3.7030224800109863,
        -1.1285685300827026,
        1.4433581829071045,
        -1.98154878616333,
        -1.104629397392273,
        -0.8889304995536804,
        0.9968106746673584,
        0.6949597597122192,
        -0.15926200151443481,
        0.11156797409057617,
        0.37743210792541504,
        -0.9024724364280701,
        -0.20757795870304108,
        -0.8719854354858398,
        -0.27089616656303406,
        -0.4077457785606384
      ],
      "bottle_position_world": [
        0.1799979954957962,
        -0.12999752163887024,
        0.8377473950386047
      ],
      "bottle_quaternion_world": [
        1.0,
        -2.2020985852577724e-05,
        -1.793268893379718e-05,
        4.946136687067337e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 2.4000000000000004,
      "clearance_m": -0.00024074316024780273,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15971240401268005,
      "action": [
        0.04895452409982681,
        -0.014350324869155884,
        -0.5537601113319397,
        0.5344601273536682,
        -0.3013739287853241,
        0.9305043816566467,
        1.0
      ],
      "proprioception": [
        -3.706055164337158,
        -1.1240251064300537,
        1.442887544631958,
        -1.9785516262054443,
        -1.0965073108673096,
        -0.9032775163650513,
        0.9967910051345825,
        0.6950972080230713,
        -0.15936051309108734,
        0.10941766947507858,
        0.3875095844268799,
        -0.8971858620643616,
        -0.21188178658485413,
        -0.8678057789802551,
        -0.2774692475795746,
        -0.41221845149993896
      ],
      "bottle_position_world": [
        0.1799924224615097,
        -0.13000302016735077,
        0.8377313613891602
      ],
      "bottle_quaternion_world": [
        1.0,
        3.4378852433292195e-05,
        -7.546276901848614e-05,
        4.9911224778043106e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 2.45,
      "clearance_m": -0.00024878978729248047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15972036123275757,
      "action": [
        0.0070713236927986145,
        -0.03563322871923447,
        -0.4576759934425354,
        0.4490204453468323,
        -0.1891728937625885,
        0.9127282500267029,
        1.0
      ],
      "proprioception": [
        -3.7089056968688965,
        -1.1194438934326172,
        1.440787672996521,
        -1.9728590250015259,
        -1.0894476175308228,
        -0.9184457659721375,
        0.9967755675315857,
        0.6950854659080505,
        -0.15954087674617767,
        0.1076120138168335,
        0.39795824885368347,
        -0.8915977478027344,
        -0.21606230735778809,
        -0.8637769222259521,
        -0.2848137617111206,
        -0.415657103061676
      ],
      "bottle_position_world": [
        0.1800040751695633,
        -0.13000616431236267,
        0.8377245664596558
      ],
      "bottle_quaternion_world": [
        1.0,
        6.706654676236212e-05,
        4.374592754174955e-05,
        5.0271773943677545e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 2.5,
      "clearance_m": -0.00024336576461791992,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15971539914608002,
      "action": [
        -0.027098193764686584,
        -0.05153798311948776,
        -0.3990470767021179,
        0.36819303035736084,
        -0.085220105946064,
        0.9014340043067932,
        1.0
      ],
      "proprioception": [
        -3.7112367153167725,
        -1.1150964498519897,
        1.4375090599060059,
        -1.9655460119247437,
        -1.0840924978256226,
        -0.9330183267593384,
        0.9967687129974365,
        0.6949748992919922,
        -0.15975092351436615,
        0.10615160316228867,
        0.40789902210235596,
        -0.8862027525901794,
        -0.2196883112192154,
        -0.8602051138877869,
        -0.2923555374145508,
        -0.4178219139575958
      ],
      "bottle_position_world": [
        0.1799975037574768,
        -0.1300034373998642,
        0.8377291560173035
      ],
      "bottle_quaternion_world": [
        1.0,
        3.9138991269283e-05,
        -2.365350337640848e-05,
        5.002629404771142e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 2.5500000000000003,
      "clearance_m": -0.00029647350311279297,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15974868834018707,
      "action": [
        -0.06118704378604889,
        -0.04459736496210098,
        -0.41107869148254395,
        0.32386648654937744,
        -0.003881491720676422,
        0.9284068942070007,
        1.0
      ],
      "proprioception": [
        -3.7132670879364014,
        -1.1105173826217651,
        1.4334690570831299,
        -1.956886887550354,
        -1.0797559022903442,
        -0.9479949474334717,
        0.9967634081840515,
        0.694748044013977,
        -0.15994878113269806,
        0.10463756322860718,
        0.4180256724357605,
        -0.8805738687515259,
        -0.2232590913772583,
        -0.8567962646484375,
        -0.30049216747283936,
        -0.41905251145362854
      ],
      "bottle_position_world": [
        0.18008430302143097,
        -0.13002827763557434,
        0.837705671787262
      ],
      "bottle_quaternion_world": [
        0.9999997019767761,
        0.0002593574463389814,
        0.0008451514295302331,
        0.00013446043885778636
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0005142095615155995
    },
    {
      "t_s": 2.6,
      "clearance_m": -0.0006129145622253418,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15997549891471863,
      "action": [
        -0.11030228435993195,
        -0.042693279683589935,
        -0.33292925357818604,
        0.2642480731010437,
        0.03886730223894119,
        0.9171281456947327,
        1.0
      ],
      "proprioception": [
        -3.71504807472229,
        -1.106652021408081,
        1.4289331436157227,
        -1.9474725723266602,
        -1.076259970664978,
        -0.9629011154174805,
        0.9967542290687561,
        0.6944423317909241,
        -0.16014523804187775,
        0.10366449505090714,
        0.4281614124774933,
        -0.8749744892120361,
        -0.2260478287935257,
        -0.8532598614692688,
        -0.3090110123157501,
        -0.42007139325141907
      ],
      "bottle_position_world": [
        0.1803867369890213,
        -0.13012798130512238,
        0.8375033140182495
      ],
      "bottle_quaternion_world": [
        0.9999918937683105,
        0.0010759263532236218,
        0.003801363054662943,
        0.0008482098346576095
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0011418444337323308
    },
    {
      "t_s": 2.6500000000000004,
      "clearance_m": -0.0006773471832275391,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15999345481395721,
      "action": [
        -0.12362520396709442,
        -0.060743533074855804,
        -0.25528818368911743,
        0.16999812424182892,
        0.07429630309343338,
        0.8806538581848145,
        1.0
      ],
      "proprioception": [
        -3.716447114944458,
        -1.1033387184143066,
        1.4238590002059937,
        -1.9377986192703247,
        -1.0740463733673096,
        -0.9771949648857117,
        0.9967459440231323,
        0.6941367387771606,
        -0.16041353344917297,
        0.10313570499420166,
        0.43797481060028076,
        -0.8696558475494385,
        -0.22776521742343903,
        -0.8497610688209534,
        -0.3177970051765442,
        -0.42060837149620056
      ],
      "bottle_position_world": [
        0.18062527477741241,
        -0.1301763653755188,
        0.8375228047370911
      ],
      "bottle_quaternion_world": [
        0.9999793767929077,
        0.0014306989032775164,
        0.0060771070420742035,
        0.0015508749056607485
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0016219973331317306
    },
    {
      "t_s": 2.7,
      "clearance_m": -0.0007109642028808594,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16003276407718658,
      "action": [
        -0.09699471294879913,
        -0.08456219732761383,
        -0.22761215269565582,
        0.07267741113901138,
        0.08881104737520218,
        0.864482581615448,
        1.0
      ],
      "proprioception": [
        -3.7173471450805664,
        -1.1003056764602661,
        1.418609619140625,
        -1.9289292097091675,
        -1.0730863809585571,
        -0.9902302622795105,
        0.996733546257019,
        0.6939585208892822,
        -0.1607344150543213,
        0.1028069257736206,
        0.4471311569213867,
        -0.8648273944854736,
        -0.22835864126682281,
        -0.8463974595069885,
        -0.32651233673095703,
        -0.4207150936126709
      ],
      "bottle_position_world": [
        0.18077413737773895,
        -0.13011153042316437,
        0.837531328201294
      ],
      "bottle_quaternion_world": [
        0.9999698400497437,
        0.000693334499374032,
        0.007404116913676262,
        0.0022811749950051308
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.001819208962842822
    },
    {
      "t_s": 2.75,
      "clearance_m": -0.0002549290657043457,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1590903103351593,
      "action": [
        -0.0981566458940506,
        -0.08128511160612106,
        -0.2391200214624405,
        0.0009686574339866638,
        0.09574254602193832,
        0.9052559733390808,
        1.0
      ],
      "proprioception": [
        -3.717957019805908,
        -1.0967940092086792,
        1.4134701490402222,
        -1.9198658466339111,
        -1.0732818841934204,
        -1.0037239789962769,
        0.9967296719551086,
        0.6936026215553284,
        -0.16104747354984283,
        0.10193908214569092,
        0.4565487802028656,
        -0.8597475290298462,
        -0.22890524566173553,
        -0.8431696891784668,
        -0.3359937071800232,
        -0.4197298288345337
      ],
      "bottle_position_world": [
        0.17851854860782623,
        -0.12868982553482056,
        0.8384484648704529
      ],
      "bottle_quaternion_world": [
        0.9997833371162415,
        -0.013768414966762066,
        -0.015421637333929539,
        0.002461954951286316
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 2.8000000000000003,
      "clearance_m": -0.00021731853485107422,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15924936532974243,
      "action": [
        0.01142091304063797,
        0.03793702274560928,
        -0.30365997552871704,
        -0.01206938922405243,
        0.0619448646903038,
        0.9550557732582092,
        1.0
      ],
      "proprioception": [
        -3.7177252769470215,
        -1.0925995111465454,
        1.4081196784973145,
        -1.9117244482040405,
        -1.073494553565979,
        -1.017154574394226,
        0.9967321157455444,
        0.6936320066452026,
        -0.1609441339969635,
        0.10081381350755692,
        0.4666731357574463,
        -0.8542315363883972,
        -0.2291395515203476,
        -0.8393980860710144,
        -0.34617194533348083,
        -0.4190179407596588
      ],
      "bottle_position_world": [
        0.17918957769870758,
        -0.12996119260787964,
        0.8380632996559143
      ],
      "bottle_quaternion_world": [
        0.9999606013298035,
        -0.001112452708184719,
        -0.008590891025960445,
        0.001942173228599131
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 2.85,
      "clearance_m": -0.00015461444854736328,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15939635038375854,
      "action": [
        -0.09925635159015656,
        0.05602576583623886,
        -0.19371972978115082,
        -0.06276467442512512,
        -0.03180256485939026,
        0.9838768839836121,
        1.0
      ],
      "proprioception": [
        -3.7177212238311768,
        -1.0900709629058838,
        1.404603362083435,
        -1.9046276807785034,
        -1.0736658573150635,
        -1.031467080116272,
        0.9967309236526489,
        0.6932589411735535,
        -0.16074880957603455,
        0.1000518798828125,
        0.47746169567108154,
        -0.8484707474708557,
        -0.22831572592258453,
        -0.8348271250724792,
        -0.35702306032180786,
        -0.4190446138381958
      ],
      "bottle_position_world": [
        0.17951592803001404,
        -0.12914399802684784,
        0.8382033109664917
      ],
      "bottle_quaternion_world": [
        0.9999412298202515,
        -0.009390461258590221,
        -0.0051561868749558926,
        0.001696572988294065
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 2.9000000000000004,
      "clearance_m": -0.0001957416534423828,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15938757359981537,
      "action": [
        -0.008729547262191772,
        0.013352960348129272,
        -0.1563510149717331,
        -0.13495300710201263,
        -0.07256612926721573,
        0.9213356971740723,
        1.0
      ],
      "proprioception": [
        -3.7174508571624756,
        -1.0876493453979492,
        1.40093994140625,
        -1.8991156816482544,
        -1.0743553638458252,
        -1.043992519378662,
        0.9967321157455444,
        0.6932253837585449,
        -0.16071398556232452,
        0.09952376037836075,
        0.4872094690799713,
        -0.8434134721755981,
        -0.22645273804664612,
        -0.8303503394126892,
        -0.3671017289161682,
        -0.4192311763763428
      ],
      "bottle_position_world": [
        0.17938725650310516,
        -0.1289118230342865,
        0.8382508754730225
      ],
      "bottle_quaternion_world": [
        0.9999113082885742,
        -0.011512087658047676,
        -0.0064314971677958965,
        0.0019076444441452622
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 2.95,
      "clearance_m": -0.00018465518951416016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15932145714759827,
      "action": [
        0.036690354347229004,
        0.0011612027883529663,
        -0.14844806492328644,
        -0.20710231363773346,
        -0.10064978152513504,
        0.9653299450874329,
        1.0
      ],
      "proprioception": [
        -3.716869592666626,
        -1.0850194692611694,
        1.39689302444458,
        -1.893986463546753,
        -1.0756651163101196,
        -1.056999921798706,
        0.9967352747917175,
        0.6933538317680359,
        -0.1607188582420349,
        0.09899406135082245,
        0.49759072065353394,
        -0.8380815386772156,
        -0.22365832328796387,
        -0.8253397345542908,
        -0.37811827659606934,
        -0.41933390498161316
      ],
      "bottle_position_world": [
        0.1792188584804535,
        -0.12879237532615662,
        0.8383194208145142
      ],
      "bottle_quaternion_world": [
        0.9998869299888611,
        -0.012524484656751156,
        -0.008068768307566643,
        0.00206200173124671
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.0,
      "clearance_m": -0.00014513731002807617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15925435721874237,
      "action": [
        0.035294465720653534,
        0.01005350798368454,
        -0.10350720584392548,
        -0.27890706062316895,
        -0.15533557534217834,
        0.9891520142555237,
        1.0
      ],
      "proprioception": [
        -3.7160990238189697,
        -1.082973837852478,
        1.3935312032699585,
        -1.8899908065795898,
        -1.077363133430481,
        -1.0698167085647583,
        0.996737003326416,
        0.6934762001037598,
        -0.1606830209493637,
        0.09859269112348557,
        0.5080604553222656,
        -0.8327766060829163,
        -0.2199040651321411,
        -0.8199363946914673,
        -0.3894323706626892,
        -0.4195791482925415
      ],
      "bottle_position_world": [
        0.17912398278713226,
        -0.1287044882774353,
        0.8383956551551819
      ],
      "bottle_quaternion_world": [
        0.9998691082000732,
        -0.013310841284692287,
        -0.008960114791989326,
        0.002072289353236556
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.0500000000000003,
      "clearance_m": -0.00014197826385498047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15918976068496704,
      "action": [
        0.049411118030548096,
        0.012486711144447327,
        -0.050741370767354965,
        -0.34922242164611816,
        -0.22709614038467407,
        0.9729902148246765,
        1.0
      ],
      "proprioception": [
        -3.7151665687561035,
        -1.0816237926483154,
        1.3909707069396973,
        -1.8875465393066406,
        -1.0793243646621704,
        -1.082167387008667,
        0.9967378973960876,
        0.6936565637588501,
        -0.16063307225704193,
        0.0983964279294014,
        0.5184556841850281,
        -0.8276381492614746,
        -0.21498575806617737,
        -0.8141172528266907,
        -0.4008452594280243,
        -0.4201622009277344
      ],
      "bottle_position_world": [
        0.17894795536994934,
        -0.12853536009788513,
        0.8384756445884705
      ],
      "bottle_quaternion_world": [
        0.9998299479484558,
        -0.01491302065551281,
        -0.010656304657459259,
        0.0020700860768556595
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.1,
      "clearance_m": -0.00014263391494750977,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1591361165046692,
      "action": [
        0.08263905346393585,
        0.012417882680892944,
        -0.01711687073111534,
        -0.40976840257644653,
        -0.3023151755332947,
        0.958591878414154,
        1.0
      ],
      "proprioception": [
        -3.714158773422241,
        -1.0807780027389526,
        1.389173984527588,
        -1.8867064714431763,
        -1.0812727212905884,
        -1.0932252407073975,
        0.996736466884613,
        0.6939436197280884,
        -0.1605881005525589,
        0.09833630174398422,
        0.5280415415763855,
        -0.8229871392250061,
        -0.20943805575370789,
        -0.8083328604698181,
        -0.4114912748336792,
        -0.4210380017757416
      ],
      "bottle_position_world": [
        0.1787915974855423,
        -0.12842246890068054,
        0.8385323882102966
      ],
      "bottle_quaternion_world": [
        0.9997967481613159,
        -0.015952404588460922,
        -0.01215281430631876,
        0.0020645142067223787
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.1500000000000004,
      "clearance_m": -0.00018268823623657227,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15909722447395325,
      "action": [
        0.08633151650428772,
        0.019578799605369568,
        -0.003564678132534027,
        -0.46090465784072876,
        -0.3383556306362152,
        0.9846710562705994,
        1.0
      ],
      "proprioception": [
        -3.7130165100097656,
        -1.0802111625671387,
        1.3877475261688232,
        -1.8865653276443481,
        -1.0834190845489502,
        -1.1041109561920166,
        0.9967375993728638,
        0.6942548155784607,
        -0.16050973534584045,
        0.09833106398582458,
        0.5376166105270386,
        -0.8183023929595947,
        -0.20334665477275848,
        -0.8022984862327576,
        -0.4222556948661804,
        -0.42192113399505615
      ],
      "bottle_position_world": [
        0.17859163880348206,
        -0.12829944491386414,
        0.8385676741600037
      ],
      "bottle_quaternion_world": [
        0.9997490644454956,
        -0.017231671139597893,
        -0.014171428047120571,
        0.002036213641986251
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.2,
      "clearance_m": -0.00015938282012939453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1589934378862381,
      "action": [
        0.0873415470123291,
        0.02666930854320526,
        0.011534392833709717,
        -0.49001139402389526,
        -0.397184818983078,
        0.9791898131370544,
        1.0
      ],
      "proprioception": [
        -3.7118635177612305,
        -1.0800693035125732,
        1.3870511054992676,
        -1.8874963521957397,
        -1.0854710340499878,
        -1.1148196458816528,
        0.9967408180236816,
        0.6945759654045105,
        -0.16040095686912537,
        0.0983850285410881,
        0.5471282601356506,
        -0.8136138916015625,
        -0.19668172299861908,
        -0.7959456443786621,
        -0.43296894431114197,
        -0.4230944514274597
      ],
      "bottle_position_world": [
        0.17837972939014435,
        -0.12820762395858765,
        0.838660717010498
      ],
      "bottle_quaternion_world": [
        0.9996988773345947,
        -0.018223818391561508,
        -0.01631776988506317,
        0.0019664126448333263
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.25,
      "clearance_m": -0.00013458728790283203,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1588875949382782,
      "action": [
        0.09038932621479034,
        0.02734924852848053,
        0.027351532131433487,
        -0.5039655566215515,
        -0.4577033221721649,
        0.9675830006599426,
        1.0
      ],
      "proprioception": [
        -3.7107770442962646,
        -1.0802994966506958,
        1.3870314359664917,
        -1.8894137144088745,
        -1.0872857570648193,
        -1.1254338026046753,
        0.9967444539070129,
        0.6949126124382019,
        -0.16028504073619843,
        0.09849850833415985,
        0.5565701127052307,
        -0.8088937997817993,
        -0.18952777981758118,
        -0.7892618775367737,
        -0.44356855750083923,
        -0.4246326982975006
      ],
      "bottle_position_world": [
        0.17817212641239166,
        -0.12814822793006897,
        0.8387477993965149
      ],
      "bottle_quaternion_world": [
        0.999649167060852,
        -0.018922777846455574,
        -0.01844131387770176,
        0.0018726804992184043
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.3000000000000003,
      "clearance_m": -0.0001233220100402832,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15878960490226746,
      "action": [
        0.0909193903207779,
        0.02510906755924225,
        0.035825930535793304,
        -0.5076289772987366,
        -0.5113731026649475,
        0.9583141207695007,
        1.0
      ],
      "proprioception": [
        -3.7098686695098877,
        -1.0807759761810303,
        1.3875740766525269,
        -1.891980528831482,
        -1.0887272357940674,
        -1.1354244947433472,
        0.9967494010925293,
        0.6952309608459473,
        -0.1601889729499817,
        0.09862642735242844,
        0.5653875470161438,
        -0.8043906092643738,
        -0.18246395885944366,
        -0.7826921343803406,
        -0.4534164071083069,
        -0.42638835310935974
      ],
      "bottle_position_world": [
        0.17794720828533173,
        -0.128068745136261,
        0.8388291597366333
      ],
      "bottle_quaternion_world": [
        0.9995880126953125,
        -0.01980239525437355,
        -0.02069976180791855,
        0.0017790017882362008
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.35,
      "clearance_m": -0.00010383129119873047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15868927538394928,
      "action": [
        0.08173930644989014,
        0.030510999262332916,
        0.042508505284786224,
        -0.512940526008606,
        -0.5228812098503113,
        0.9720569252967834,
        1.0
      ],
      "proprioception": [
        -3.708961009979248,
        -1.0813930034637451,
        1.3882919549942017,
        -1.8946712017059326,
        -1.0901321172714233,
        -1.145620584487915,
        0.9967526793479919,
        0.6955251097679138,
        -0.16006681323051453,
        0.09878476709127426,
        0.5742988586425781,
        -0.7996726632118225,
        -0.17522676289081573,
        -0.7758655548095703,
        -0.46338528394699097,
        -0.4281432330608368
      ],
      "bottle_position_world": [
        0.17772752046585083,
        -0.1280166208744049,
        0.838906466960907
      ],
      "bottle_quaternion_world": [
        0.999532163143158,
        -0.02030918374657631,
        -0.022808808833360672,
        0.001639954512938857
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.4000000000000004,
      "clearance_m": -0.00010305643081665039,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1586136817932129,
      "action": [
        0.07077275216579437,
        0.029627762734889984,
        0.04177691787481308,
        -0.5075430274009705,
        -0.5403739809989929,
        0.9666814208030701,
        1.0
      ],
      "proprioception": [
        -3.708134412765503,
        -1.0821839570999146,
        1.3893640041351318,
        -1.8976974487304688,
        -1.0913950204849243,
        -1.1560002565383911,
        0.9967567920684814,
        0.6957845091819763,
        -0.15994514524936676,
        0.09894637018442154,
        0.583236813545227,
        -0.7947816252708435,
        -0.16780081391334534,
        -0.7687792181968689,
        -0.4733707904815674,
        -0.429998517036438
      ],
      "bottle_position_world": [
        0.17753705382347107,
        -0.12800732254981995,
        0.8389512896537781
      ],
      "bottle_quaternion_world": [
        0.9994877576828003,
        -0.02039790153503418,
        -0.024620799347758293,
        0.0014746233355253935
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.45,
      "clearance_m": -0.00010287761688232422,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15853926539421082,
      "action": [
        0.06184589862823486,
        0.026441797614097595,
        0.04117303341627121,
        -0.4956769347190857,
        -0.5573384165763855,
        0.9599005579948425,
        1.0
      ],
      "proprioception": [
        -3.7074196338653564,
        -1.0831156969070435,
        1.3907536268234253,
        -1.9010167121887207,
        -1.0924551486968994,
        -1.1665987968444824,
        0.996760368347168,
        0.6960147023200989,
        -0.15983405709266663,
        0.09910978376865387,
        0.592197060585022,
        -0.7897031903266907,
        -0.16022291779518127,
        -0.7614231109619141,
        -0.48334407806396484,
        -0.4319874346256256
      ],
      "bottle_position_world": [
        0.17735150456428528,
        -0.12800639867782593,
        0.8389936089515686
      ],
      "bottle_quaternion_world": [
        0.9994427561759949,
        -0.02041410654783249,
        -0.026377562433481216,
        0.0012810395564883947
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.5,
      "clearance_m": -0.00010353326797485352,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15847083926200867,
      "action": [
        0.054595768451690674,
        0.023012258112430573,
        0.03930891677737236,
        -0.4809585213661194,
        -0.5708538293838501,
        0.954133927822113,
        1.0
      ],
      "proprioception": [
        -3.706861972808838,
        -1.0840733051300049,
        1.3923033475875854,
        -1.9043471813201904,
        -1.0932562351226807,
        -1.1767939329147339,
        0.9967634081840515,
        0.6962062120437622,
        -0.15974697470664978,
        0.0992509126663208,
        0.6006423830986023,
        -0.7847421765327454,
        -0.15299826860427856,
        -0.7542644739151001,
        -0.4927062392234802,
        -0.43396487832069397
      ],
      "bottle_position_world": [
        0.1771809607744217,
        -0.12801115214824677,
        0.8390311002731323
      ],
      "bottle_quaternion_world": [
        0.9994001388549805,
        -0.02038470283150673,
        -0.02797916904091835,
        0.001061858027242124
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.5500000000000003,
      "clearance_m": -0.00010371208190917969,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1584005057811737,
      "action": [
        0.043598562479019165,
        0.02686294913291931,
        0.04314206913113594,
        -0.474345862865448,
        -0.5503532290458679,
        0.9679413437843323,
        1.0
      ],
      "proprioception": [
        -3.706294059753418,
        -1.0850259065628052,
        1.393722653388977,
        -1.9073411226272583,
        -1.0940985679626465,
        -1.1873582601547241,
        0.9967641234397888,
        0.6963639855384827,
        -0.15964238345623016,
        0.09941338002681732,
        0.6092499494552612,
        -0.779464840888977,
        -0.14577102661132812,
        -0.7468699812889099,
        -0.5022759437561035,
        -0.43577995896339417
      ],
      "bottle_position_world": [
        0.17701297998428345,
        -0.12803423404693604,
        0.8390659689903259
      ],
      "bottle_quaternion_world": [
        0.9993591904640198,
        -0.020175114274024963,
        -0.029555069282650948,
        0.0008356376201845706
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.6,
      "clearance_m": -0.00010395050048828125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15833503007888794,
      "action": [
        0.031859949231147766,
        0.023983106017112732,
        0.03668828681111336,
        -0.4636535048484802,
        -0.5389146208763123,
        0.9661032557487488,
        1.0
      ],
      "proprioception": [
        -3.7057783603668213,
        -1.0859986543655396,
        1.3952038288116455,
        -1.9102598428726196,
        -1.0949106216430664,
        -1.1982311010360718,
        0.9967650771141052,
        0.6964819431304932,
        -0.15954554080963135,
        0.09955716133117676,
        0.6179391741752625,
        -0.773930013179779,
        -0.13850587606430054,
        -0.7392492890357971,
        -0.5119492411613464,
        -0.4375142455101013
      ],
      "bottle_position_world": [
        0.17686569690704346,
        -0.1280847191810608,
        0.839091956615448
      ],
      "bottle_quaternion_world": [
        0.9993274211883545,
        -0.019700538367033005,
        -0.030924925580620766,
        0.0005938392132520676
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.6500000000000004,
      "clearance_m": -0.00010412931442260742,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15826371312141418,
      "action": [
        0.02280685305595398,
        0.019498072564601898,
        0.0329132005572319,
        -0.4494907259941101,
        -0.5338497757911682,
        0.9629310965538025,
        1.0
      ],
      "proprioception": [
        -3.7053465843200684,
        -1.086991786956787,
        1.3967608213424683,
        -1.9131394624710083,
        -1.0956201553344727,
        -1.20941162109375,
        0.9967653155326843,
        0.6965678930282593,
        -0.1594647765159607,
        0.09968926757574081,
        0.626689076423645,
        -0.7681446075439453,
        -0.13120600581169128,
        -0.7313879728317261,
        -0.5216764807701111,
        -0.4392329156398773
      ],
      "bottle_position_world": [
        0.17670395970344543,
        -0.1281275749206543,
        0.8391236662864685
      ],
      "bottle_quaternion_world": [
        0.9992873668670654,
        -0.019309652969241142,
        -0.032432299107313156,
        0.0003314591886010021
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.7,
      "clearance_m": -0.00010442733764648438,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15820369124412537,
      "action": [
        0.017536744475364685,
        0.016301557421684265,
        0.029555823653936386,
        -0.4348939061164856,
        -0.532009482383728,
        0.9598020911216736,
        1.0
      ],
      "proprioception": [
        -3.705018997192383,
        -1.0879229307174683,
        1.3982899188995361,
        -1.9158375263214111,
        -1.0961689949035645,
        -1.2201933860778809,
        0.9967654347419739,
        0.6966291666030884,
        -0.15940427780151367,
        0.09979583323001862,
        0.6349595785140991,
        -0.7624779939651489,
        -0.12431276589632034,
        -0.7237713932991028,
        -0.5308504700660706,
        -0.4408544898033142
      ],
      "bottle_position_world": [
        0.17657677829265594,
        -0.12818998098373413,
        0.8391445875167847
      ],
      "bottle_quaternion_world": [
        0.999259889125824,
        -0.018733803182840347,
        -0.03359660506248474,
        5.098971087136306e-05
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.75,
      "clearance_m": -0.00010436773300170898,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15814122557640076,
      "action": [
        0.0074589550495147705,
        0.020135894417762756,
        0.031209897249937057,
        -0.42860913276672363,
        -0.5014442801475525,
        0.9762020707130432,
        1.0
      ],
      "proprioception": [
        -3.704660654067993,
        -1.0887823104858398,
        1.3995561599731445,
        -1.9180214405059814,
        -1.0968177318572998,
        -1.2313756942749023,
        0.9967628717422485,
        0.6966570019721985,
        -0.15932753682136536,
        0.0999140664935112,
        0.6434037089347839,
        -0.7564559578895569,
        -0.11749909073114395,
        -0.7159337401390076,
        -0.5402456521987915,
        -0.44223710894584656
      ],
      "bottle_position_world": [
        0.17644749581813812,
        -0.128256693482399,
        0.8391665816307068
      ],
      "bottle_quaternion_world": [
        0.9992307424545288,
        -0.018121691420674324,
        -0.03478051722049713,
        -0.0002432261680951342
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.8000000000000003,
      "clearance_m": -0.00010448694229125977,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1580786406993866,
      "action": [
        -0.002895563840866089,
        0.01716706156730652,
        0.024835705757141113,
        -0.4199901223182678,
        -0.4848509430885315,
        0.9758036732673645,
        1.0
      ],
      "proprioception": [
        -3.704336166381836,
        -1.0896222591400146,
        1.4007935523986816,
        -1.9200224876403809,
        -1.0974841117858887,
        -1.2428714036941528,
        0.9967610239982605,
        0.696648120880127,
        -0.1592598259449005,
        0.10001226514577866,
        0.6519278883934021,
        -0.7501587271690369,
        -0.11069108545780182,
        -0.7078818082809448,
        -0.5497474670410156,
        -0.44348788261413574
      ],
      "bottle_position_world": [
        0.17632384598255157,
        -0.12833601236343384,
        0.8391862511634827
      ],
      "bottle_quaternion_world": [
        0.9992036819458008,
        -0.017391618341207504,
        -0.03590776398777962,
        -0.000551815377548337
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.85,
      "clearance_m": -0.00010460615158081055,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15805718302726746,
      "action": [
        -0.008313044905662537,
        0.01322801411151886,
        0.021487463265657425,
        -0.40919625759124756,
        -0.4782632887363434,
        0.9734132885932922,
        1.0
      ],
      "proprioception": [
        -3.704069137573242,
        -1.0904501676559448,
        1.4020369052886963,
        -1.9219388961791992,
        -1.098088264465332,
        -1.2547277212142944,
        0.9967576861381531,
        0.6966186165809631,
        -0.1592067927122116,
        0.10009931027889252,
        0.660554826259613,
        -0.7435641884803772,
        -0.10382433235645294,
        -0.6995450258255005,
        -0.5593562126159668,
        -0.44469913840293884
      ],
      "bottle_position_world": [
        0.17631350457668304,
        -0.1284557282924652,
        0.8391725420951843
      ],
      "bottle_quaternion_world": [
        0.999221920967102,
        -0.01626947522163391,
        -0.03591904044151306,
        -0.0008667024085298181
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.9000000000000004,
      "clearance_m": -0.00010532140731811523,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1579897105693817,
      "action": [
        -0.010240674018859863,
        0.0038827136158943176,
        0.0214749313890934,
        -0.4002329707145691,
        -0.48114943504333496,
        0.9674519896507263,
        1.0
      ],
      "proprioception": [
        -3.703904390335083,
        -1.0912302732467651,
        1.4032522439956665,
        -1.9237754344940186,
        -1.098559856414795,
        -1.2661240100860596,
        0.996755063533783,
        0.6965822577476501,
        -0.15919171273708344,
        0.10017641633749008,
        0.6686831116676331,
        -0.737156331539154,
        -0.09728033095598221,
        -0.6914725303649902,
        -0.5684053897857666,
        -0.44584885239601135
      ],
      "bottle_position_world": [
        0.1761598289012909,
        -0.12848082184791565,
        0.8392074108123779
      ],
      "bottle_quaternion_world": [
        0.999172568321228,
        -0.016081124544143677,
        -0.03734136000275612,
        -0.0011751943966373801
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 3.95,
      "clearance_m": -0.00010502338409423828,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1579468697309494,
      "action": [
        -0.011464551091194153,
        0.009460709989070892,
        0.020485449582338333,
        -0.3979106545448303,
        -0.45474833250045776,
        0.9856728911399841,
        1.0
      ],
      "proprioception": [
        -3.7036752700805664,
        -1.0918848514556885,
        1.4041544198989868,
        -1.9251410961151123,
        -1.0991469621658325,
        -1.2778534889221191,
        0.9967527985572815,
        0.6965415477752686,
        -0.1591566503047943,
        0.10025481879711151,
        0.6769550442695618,
        -0.7304002046585083,
        -0.09081796556711197,
        -0.6831808090209961,
        -0.5776405930519104,
        -0.44676142930984497
      ],
      "bottle_position_world": [
        0.17608536779880524,
        -0.12855474650859833,
        0.8392173647880554
      ],
      "bottle_quaternion_world": [
        0.9991583228111267,
        -0.015415370464324951,
        -0.037983790040016174,
        -0.0014916615327820182
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.0,
      "clearance_m": -0.00010865926742553711,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1579078882932663,
      "action": [
        -0.017049729824066162,
        0.0075684115290641785,
        0.01629399135708809,
        -0.39393168687820435,
        -0.44555479288101196,
        0.9876384139060974,
        1.0
      ],
      "proprioception": [
        -3.7034621238708496,
        -1.0925217866897583,
        1.4050281047821045,
        -1.9263917207717896,
        -1.0997509956359863,
        -1.289834976196289,
        0.9967511892318726,
        0.696480929851532,
        -0.15912704169750214,
        0.10032093524932861,
        0.6852728128433228,
        -0.7233874201774597,
        -0.08433078974485397,
        -0.6746706962585449,
        -0.5869472026824951,
        -0.4475628435611725
      ],
      "bottle_position_world": [
        0.17601598799228668,
        -0.12863796949386597,
        0.8392215967178345
      ],
      "bottle_quaternion_world": [
        0.9991466403007507,
        -0.014654779806733131,
        -0.03857683017849922,
        -0.0017987448954954743
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.05,
      "clearance_m": -0.00010961294174194336,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15785552561283112,
      "action": [
        -0.01775672286748886,
        0.0043192058801651,
        0.015636205673217773,
        -0.38886934518814087,
        -0.44690659642219543,
        0.9856261610984802,
        1.0
      ],
      "proprioception": [
        -3.7032876014709473,
        -1.0931642055511475,
        1.4059321880340576,
        -1.9276647567749023,
        -1.1002988815307617,
        -1.3020251989364624,
        0.996749997138977,
        0.6964165568351746,
        -0.15910939872264862,
        0.10038597136735916,
        0.6935980916023254,
        -0.7161529660224915,
        -0.07776004076004028,
        -0.6659244894981384,
        -0.5962710976600647,
        -0.44833633303642273
      ],
      "bottle_position_world": [
        0.17592142522335052,
        -0.1287185102701187,
        0.8392360806465149
      ],
      "bottle_quaternion_world": [
        0.9991236925125122,
        -0.013916237279772758,
        -0.039418935775756836,
        -0.0020956082735210657
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.1000000000000005,
      "clearance_m": -0.00010991096496582031,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1578117161989212,
      "action": [
        -0.014616705477237701,
        0.0026797130703926086,
        0.01531139761209488,
        -0.38452303409576416,
        -0.45504993200302124,
        0.984029233455658,
        1.0
      ],
      "proprioception": [
        -3.7031586170196533,
        -1.0937726497650146,
        1.4068464040756226,
        -1.9289733171463013,
        -1.1007286310195923,
        -1.313663125038147,
        0.9967483878135681,
        0.69636470079422,
        -0.15910077095031738,
        0.10044208914041519,
        0.701423704624176,
        -0.70915287733078,
        -0.07146572321653366,
        -0.657462477684021,
        -0.6050406098365784,
        -0.4490760564804077
      ],
      "bottle_position_world": [
        0.1758502721786499,
        -0.12880122661590576,
        0.8392453789710999
      ],
      "bottle_quaternion_world": [
        0.9991089105606079,
        -0.01316316332668066,
        -0.0400310717523098,
        -0.0024039221461862326
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.15,
      "clearance_m": -0.00010985136032104492,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15776479244232178,
      "action": [
        -0.01918882131576538,
        0.00792936235666275,
        0.015573136508464813,
        -0.3858184814453125,
        -0.43560999631881714,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.702976703643799,
        -1.0943247079849243,
        1.4075673818588257,
        -1.92994225025177,
        -1.1012680530548096,
        -1.3255963325500488,
        0.9967477321624756,
        0.6962970495223999,
        -0.15907269716262817,
        0.10050321370363235,
        0.7093549966812134,
        -0.70182865858078,
        -0.06520581245422363,
        -0.6487734913825989,
        -0.6139585375785828,
        -0.44960859417915344
      ],
      "bottle_position_world": [
        0.17577481269836426,
        -0.12888596951961517,
        0.8392566442489624
      ],
      "bottle_quaternion_world": [
        0.999091386795044,
        -0.01239407155662775,
        -0.040685612708330154,
        -0.0027222265489399433
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.2,
      "clearance_m": -0.0001417398452758789,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15775220096111298,
      "action": [
        -0.02324938029050827,
        0.006812453269958496,
        0.012948449701070786,
        -0.384513795375824,
        -0.4327964186668396,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7028088569641113,
        -1.094895601272583,
        1.4083229303359985,
        -1.930906891822815,
        -1.101813793182373,
        -1.33773672580719,
        0.9967467784881592,
        0.6962143778800964,
        -0.1590484082698822,
        0.10055913776159286,
        0.7172998785972595,
        -0.6942733526229858,
        -0.058868519961833954,
        -0.6398586630821228,
        -0.6229194402694702,
        -0.45005807280540466
      ],
      "bottle_position_world": [
        0.17572912573814392,
        -0.12899495661258698,
        0.8392304182052612
      ],
      "bottle_quaternion_world": [
        0.9990839958190918,
        -0.01144109945744276,
        -0.04112520441412926,
        -0.0030008931644260883
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.25,
      "clearance_m": -0.00015980005264282227,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15771889686584473,
      "action": [
        -0.02246394008398056,
        0.004400230944156647,
        0.012836407870054245,
        -0.38257700204849243,
        -0.4395459294319153,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7026729583740234,
        -1.0954898595809937,
        1.409145712852478,
        -1.931970477104187,
        -1.1022989749908447,
        -1.3500537872314453,
        0.9967462420463562,
        0.6961337327957153,
        -0.15903303027153015,
        0.10061663389205933,
        0.725227952003479,
        -0.6865116357803345,
        -0.052408359944820404,
        -0.6307017803192139,
        -0.6318799257278442,
        -0.4504924714565277
      ],
      "bottle_position_world": [
        0.17565956711769104,
        -0.12909440696239471,
        0.8392243981361389
      ],
      "bottle_quaternion_world": [
        0.9990648031234741,
        -0.010580756701529026,
        -0.041793547570705414,
        -0.003291590604931116
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.3,
      "clearance_m": -0.00016134977340698242,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15766598284244537,
      "action": [
        -0.018773332238197327,
        0.0033395588397979736,
        0.014002427458763123,
        -0.3813825845718384,
        -0.4530223608016968,
        0.9986698031425476,
        1.0
      ],
      "proprioception": [
        -3.7025766372680664,
        -1.0960842370986938,
        1.4100311994552612,
        -1.9331612586975098,
        -1.1026674509048462,
        -1.361778974533081,
        0.9967455267906189,
        0.6960688233375549,
        -0.1590244174003601,
        0.10067301988601685,
        0.7326527833938599,
        -0.6790348291397095,
        -0.0461716428399086,
        -0.621849536895752,
        -0.6402910351753235,
        -0.45092225074768066
      ],
      "bottle_position_world": [
        0.1755814105272293,
        -0.12919025123119354,
        0.8392385840415955
      ],
      "bottle_quaternion_world": [
        0.999040424823761,
        -0.00975356437265873,
        -0.04254952818155289,
        -0.003566448576748371
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.3500000000000005,
      "clearance_m": -0.00015097856521606445,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1575981229543686,
      "action": [
        -0.02259887009859085,
        0.00956205278635025,
        0.01373089849948883,
        -0.3844521641731262,
        -0.43803343176841736,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7024214267730713,
        -1.0966832637786865,
        1.4108597040176392,
        -1.9342247247695923,
        -1.1031464338302612,
        -1.373725175857544,
        0.9967451095581055,
        0.695990264415741,
        -0.1589929312467575,
        0.10073231160640717,
        0.7401358485221863,
        -0.6712741851806641,
        -0.03987749665975571,
        -0.6127634048461914,
        -0.6488209962844849,
        -0.4511680006980896
      ],
      "bottle_position_world": [
        0.17549970746040344,
        -0.12929558753967285,
        0.8392652869224548
      ],
      "bottle_quaternion_world": [
        0.9990138411521912,
        -0.008835554122924805,
        -0.04334403574466705,
        -0.0038436062168329954
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.4,
      "clearance_m": -0.00011342763900756836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15750043094158173,
      "action": [
        -0.024247348308563232,
        0.006798088550567627,
        0.01267324760556221,
        -0.3831019997596741,
        -0.43672701716423035,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7022817134857178,
        -1.0972834825515747,
        1.4117025136947632,
        -1.9352809190750122,
        -1.103622317314148,
        -1.385876178741455,
        0.9967445135116577,
        0.6959035396575928,
        -0.15896789729595184,
        0.1007850244641304,
        0.7476186156272888,
        -0.663282573223114,
        -0.033512458205223083,
        -0.6034518480300903,
        -0.657376766204834,
        -0.4513336420059204
      ],
      "bottle_position_world": [
        0.175394207239151,
        -0.129385307431221,
        0.8393235802650452
      ],
      "bottle_quaternion_world": [
        0.9989773631095886,
        -0.008032009936869144,
        -0.044298019260168076,
        -0.0041870661079883575
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.45,
      "clearance_m": -0.00012230873107910156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1574772745370865,
      "action": [
        -0.022118717432022095,
        0.0037783533334732056,
        0.013224579393863678,
        -0.3800976276397705,
        -0.44369956851005554,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7021782398223877,
        -1.0978938341140747,
        1.4125899076461792,
        -1.9364192485809326,
        -1.10402512550354,
        -1.398209571838379,
        0.9967441558837891,
        0.6958233714103699,
        -0.1589544117450714,
        0.10084137320518494,
        0.7550729513168335,
        -0.6550838351249695,
        -0.027031172066926956,
        -0.5938974022865295,
        -0.6659173369407654,
        -0.45148715376853943
      ],
      "bottle_position_world": [
        0.17536714673042297,
        -0.12947286665439606,
        0.8393183946609497
      ],
      "bottle_quaternion_world": [
        0.9989708065986633,
        -0.007286165375262499,
        -0.04454239085316658,
        -0.004517986439168453
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.5,
      "clearance_m": -0.00015437602996826172,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15747693181037903,
      "action": [
        -0.016224361956119537,
        -0.00015291571617126465,
        0.014179252088069916,
        -0.3788105249404907,
        -0.45581677556037903,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.702117919921875,
        -1.0984691381454468,
        1.4134758710861206,
        -1.937633991241455,
        -1.1043200492858887,
        -1.4099645614624023,
        0.9967437982559204,
        0.6957667469978333,
        -0.1589580625295639,
        0.1008969098329544,
        0.7620437145233154,
        -0.6471920609474182,
        -0.02078568935394287,
        -0.5846751928329468,
        -0.6739274263381958,
        -0.4516381323337555
      ],
      "bottle_position_world": [
        0.17532970011234283,
        -0.12955662608146667,
        0.8392883539199829
      ],
      "bottle_quaternion_world": [
        0.9989558458328247,
        -0.006628497038036585,
        -0.044946927577257156,
        -0.0048198881559073925
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.55,
      "clearance_m": -0.00017571449279785156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15744397044181824,
      "action": [
        -0.018462717533111572,
        0.005746304988861084,
        0.015149731189012527,
        -0.38340091705322266,
        -0.44040006399154663,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7019903659820557,
        -1.099044919013977,
        1.4142831563949585,
        -1.9387223720550537,
        -1.1047399044036865,
        -1.4219261407852173,
        0.9967434406280518,
        0.6957029700279236,
        -0.15894071757793427,
        0.10096118599176407,
        0.7690577507019043,
        -0.6390153765678406,
        -0.014476995915174484,
        -0.5752188563346863,
        -0.6820475459098816,
        -0.4515909254550934
      ],
      "bottle_position_world": [
        0.1752687245607376,
        -0.1296425312757492,
        0.8392878174781799
      ],
      "bottle_quaternion_world": [
        0.9989305138587952,
        -0.005937257781624794,
        -0.0455673523247242,
        -0.005121119786053896
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.6000000000000005,
      "clearance_m": -0.00016546249389648438,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15737509727478027,
      "action": [
        -0.018000692129135132,
        0.0032212436199188232,
        0.01423599198460579,
        -0.3840566873550415,
        -0.43788716197013855,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.701864242553711,
        -1.0996134281158447,
        1.4150676727294922,
        -1.9398000240325928,
        -1.1051796674728394,
        -1.4340732097625732,
        0.9967431426048279,
        0.695641279220581,
        -0.1589316576719284,
        0.10102780908346176,
        0.7760570645332336,
        -0.6306109428405762,
        -0.008082007989287376,
        -0.5655397772789001,
        -0.6901920437812805,
        -0.45144179463386536
      ],
      "bottle_position_world": [
        0.17518123984336853,
        -0.1297292858362198,
        0.8393201231956482
      ],
      "bottle_quaternion_world": [
        0.998893678188324,
        -0.005213054362684488,
        -0.046421587467193604,
        -0.005417609121650457
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.65,
      "clearance_m": -0.00019550323486328125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15734627842903137,
      "action": [
        -0.01600635051727295,
        0.0015863850712776184,
        0.01358756422996521,
        -0.3825465440750122,
        -0.4442950189113617,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.701761484146118,
        -1.1001945734024048,
        1.4159091711044312,
        -1.9409794807434082,
        -1.1055622100830078,
        -1.4463874101638794,
        0.9967430830001831,
        0.6955863833427429,
        -0.1589287519454956,
        0.10109403729438782,
        0.7830144762992859,
        -0.6220014095306396,
        -0.001566421240568161,
        -0.5556234121322632,
        -0.698317289352417,
        -0.45125991106033325
      ],
      "bottle_position_world": [
        0.17510409653186798,
        -0.12982280552387238,
        0.8393102884292603
      ],
      "bottle_quaternion_world": [
        0.9988568425178528,
        -0.00447305990383029,
        -0.04725070670247078,
        -0.005700773559510708
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.7,
      "clearance_m": -0.00021064281463623047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1573168784379959,
      "action": [
        -0.013007834553718567,
        0.002441905438899994,
        0.014748085290193558,
        -0.38134580850601196,
        -0.4574648141860962,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7016899585723877,
        -1.100780963897705,
        1.4168156385421753,
        -1.9422717094421387,
        -1.1058335304260254,
        -1.4581071138381958,
        0.9967429637908936,
        0.6955437064170837,
        -0.15892526507377625,
        0.10115870833396912,
        0.78950434923172,
        -0.6137268543243408,
        0.004716528579592705,
        -0.5460620522499084,
        -0.7059264779090881,
        -0.4510921239852905
      ],
      "bottle_position_world": [
        0.17505624890327454,
        -0.12991435825824738,
        0.8393070697784424
      ],
      "bottle_quaternion_world": [
        0.9988324046134949,
        -0.0037592886947095394,
        -0.0477893240749836,
        -0.005999590735882521
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.75,
      "clearance_m": -0.0002205967903137207,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1572718471288681,
      "action": [
        -0.01732935756444931,
        0.008442305028438568,
        0.015899553894996643,
        -0.38466477394104004,
        -0.44240236282348633,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.701561450958252,
        -1.101383924484253,
        1.4176685810089111,
        -1.9434394836425781,
        -1.1062151193618774,
        -1.4700466394424438,
        0.9967426657676697,
        0.695486843585968,
        -0.1589004099369049,
        0.10123346745967865,
        0.7960262298583984,
        -0.6051613092422485,
        0.011050405912101269,
        -0.5362613797187805,
        -0.7136262655258179,
        -0.45073407888412476
      ],
      "bottle_position_world": [
        0.17498473823070526,
        -0.12999919056892395,
        0.8393179178237915
      ],
      "bottle_quaternion_world": [
        0.9987949728965759,
        -0.003119461005553603,
        -0.04856937378644943,
        -0.006312777753919363
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.800000000000001,
      "clearance_m": -0.0002167224884033203,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15721666812896729,
      "action": [
        -0.017652101814746857,
        0.005821257829666138,
        0.014346204698085785,
        -0.38387125730514526,
        -0.4396040439605713,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7014412879943848,
        -1.1019785404205322,
        1.4185043573379517,
        -1.9445877075195312,
        -1.1066032648086548,
        -1.4821857213974,
        0.9967422485351562,
        0.695428729057312,
        -0.15888337790966034,
        0.10130774974822998,
        0.8025261759757996,
        -0.5963617563247681,
        0.017455488443374634,
        -0.526235044002533,
        -0.7213360667228699,
        -0.4502788782119751
      ],
      "bottle_position_world": [
        0.1749190092086792,
        -0.13007919490337372,
        0.839341938495636
      ],
      "bottle_quaternion_world": [
        0.998758852481842,
        -0.0025335627142339945,
        -0.049298245459795,
        -0.006640592589974403
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.8500000000000005,
      "clearance_m": -0.00022727251052856445,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15719039738178253,
      "action": [
        -0.015187039971351624,
        0.00252736359834671,
        0.01359022781252861,
        -0.3815464973449707,
        -0.4449857771396637,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7013533115386963,
        -1.1025699377059937,
        1.4193699359893799,
        -1.9458084106445312,
        -1.1069319248199463,
        -1.4945060014724731,
        0.9967421293258667,
        0.6953789591789246,
        -0.15887939929962158,
        0.10138098895549774,
        0.8089743852615356,
        -0.5873551368713379,
        0.023967916145920753,
        -0.5159750580787659,
        -0.729015588760376,
        -0.4497847557067871
      ],
      "bottle_position_world": [
        0.1748735010623932,
        -0.13015104830265045,
        0.8393414616584778
      ],
      "bottle_quaternion_world": [
        0.9987291097640991,
        -0.0020574391819536686,
        -0.04987267777323723,
        -0.006976215168833733
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.9,
      "clearance_m": -0.0002123713493347168,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15717360377311707,
      "action": [
        -0.009935937821865082,
        0.0004339143633842468,
        0.013127703219652176,
        -0.37970030307769775,
        -0.45627203583717346,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7013001441955566,
        -1.103127121925354,
        1.4202483892440796,
        -1.9471055269241333,
        -1.1071559190750122,
        -1.506247639656067,
        0.9967416524887085,
        0.6953490376472473,
        -0.15888474881649017,
        0.10144659876823425,
        0.814978837966919,
        -0.5787016749382019,
        0.030234040692448616,
        -0.5060935616493225,
        -0.7361998558044434,
        -0.44930994510650635
      ],
      "bottle_position_world": [
        0.17490370571613312,
        -0.13017712533473969,
        0.8393574357032776
      ],
      "bottle_quaternion_world": [
        0.9987351298332214,
        -0.002038793871179223,
        -0.04970647767186165,
        -0.007306711282581091
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 4.95,
      "clearance_m": -0.00022494792938232422,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1571735143661499,
      "action": [
        -0.008837059140205383,
        -0.0003825724124908447,
        0.01603841409087181,
        -0.38313841819763184,
        -0.43845629692077637,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.701200008392334,
        -1.1036299467086792,
        1.420940637588501,
        -1.9481817483901978,
        -1.1075066328048706,
        -1.5182311534881592,
        0.9967415928840637,
        0.69532310962677,
        -0.15889257192611694,
        0.10152541100978851,
        0.8210096955299377,
        -0.5697450637817383,
        0.03651786595582962,
        -0.49597811698913574,
        -0.7434653639793396,
        -0.4486256241798401
      ],
      "bottle_position_world": [
        0.17487601935863495,
        -0.1301615983247757,
        0.8393567800521851
      ],
      "bottle_quaternion_world": [
        0.9987084865570068,
        -0.0023998164106160402,
        -0.0501670315861702,
        -0.007673182059079409
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.0,
      "clearance_m": -0.00022780895233154297,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15715336799621582,
      "action": [
        -0.0007534250617027283,
        -0.005919046700000763,
        0.014239825308322906,
        -0.38452577590942383,
        -0.4324702024459839,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.701083183288574,
        -1.1040362119674683,
        1.4214774370193481,
        -1.9491750001907349,
        -1.107904076576233,
        -1.5303951501846313,
        0.9967411160469055,
        0.695326030254364,
        -0.15891936421394348,
        0.10159937292337418,
        0.82701176404953,
        -0.5605494379997253,
        0.042847905308008194,
        -0.4856523275375366,
        -0.7507414221763611,
        -0.4478049874305725
      ],
      "bottle_position_world": [
        0.17483730614185333,
        -0.1301955282688141,
        0.8393616080284119
      ],
      "bottle_quaternion_world": [
        0.9986813068389893,
        -0.002274584025144577,
        -0.050668396055698395,
        -0.007955871522426605
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.050000000000001,
      "clearance_m": -0.00023108720779418945,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15712645649909973,
      "action": [
        0.004031568765640259,
        -0.008003093302249908,
        0.013799518346786499,
        -0.38502824306488037,
        -0.43728822469711304,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7009732723236084,
        -1.1044254302978516,
        1.4220187664031982,
        -1.9502489566802979,
        -1.1082738637924194,
        -1.542708396911621,
        0.9967407584190369,
        0.6953468322753906,
        -0.15895436704158783,
        0.1016722172498703,
        0.8329485654830933,
        -0.5511513948440552,
        0.049288250505924225,
        -0.4751046299934387,
        -0.7579866051673889,
        -0.4469142258167267
      ],
      "bottle_position_world": [
        0.17479544878005981,
        -0.13021045923233032,
        0.8393782377243042
      ],
      "bottle_quaternion_world": [
        0.9986521005630493,
        -0.002338516991585493,
        -0.05119161680340767,
        -0.00824599340558052
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.1000000000000005,
      "clearance_m": -0.0002167820930480957,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15710477530956268,
      "action": [
        0.010059095919132233,
        -0.008624181151390076,
        0.015227247029542923,
        -0.38493311405181885,
        -0.4492205083370209,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.700885534286499,
        -1.1047998666763306,
        1.4225901365280151,
        -1.9514166116714478,
        -1.1085500717163086,
        -1.5544211864471436,
        0.9967403411865234,
        0.6953861117362976,
        -0.15899108350276947,
        0.10174266993999481,
        0.8384571671485901,
        -0.5421351790428162,
        0.05549246817827225,
        -0.46496039628982544,
        -0.7647569179534912,
        -0.446048378944397
      ],
      "bottle_position_world": [
        0.1747695952653885,
        -0.1302192062139511,
        0.8393939733505249
      ],
      "bottle_quaternion_world": [
        0.9986311197280884,
        -0.0024559872690588236,
        -0.05154484510421753,
        -0.00854978896677494
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.15,
      "clearance_m": -0.0002779364585876465,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1571563333272934,
      "action": [
        0.008080318570137024,
        -0.0033757835626602173,
        0.015246406197547913,
        -0.388683557510376,
        -0.43372923135757446,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7007339000701904,
        -1.1051596403121948,
        1.4230753183364868,
        -1.9524515867233276,
        -1.1089451313018799,
        -1.5663477182388306,
        0.9967394471168518,
        0.6954197883605957,
        -0.1590086668729782,
        0.10181567817926407,
        0.8439756035804749,
        -0.5328189730644226,
        0.061717577278614044,
        -0.45457980036735535,
        -0.7715892195701599,
        -0.44498008489608765
      ],
      "bottle_position_world": [
        0.17477555572986603,
        -0.1302093267440796,
        0.8393434882164001
      ],
      "bottle_quaternion_world": [
        0.9986204504966736,
        -0.002828998491168022,
        -0.05168658122420311,
        -0.008822551928460598
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.2,
      "clearance_m": -0.00020253658294677734,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1570776104927063,
      "action": [
        0.012754559516906738,
        -0.0051199570298194885,
        0.010706104338169098,
        -0.3889186382293701,
        -0.43119558691978455,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.700570583343506,
        -1.1054677963256836,
        1.4235080480575562,
        -1.9534960985183716,
        -1.1093558073043823,
        -1.578445553779602,
        0.9967394471168518,
        0.6954725384712219,
        -0.15903323888778687,
        0.10187873244285583,
        0.8494471907615662,
        -0.5232728123664856,
        0.06801114976406097,
        -0.44398003816604614,
        -0.7784104943275452,
        -0.44380098581314087
      ],
      "bottle_position_world": [
        0.17474746704101562,
        -0.1301804929971695,
        0.8394292593002319
      ],
      "bottle_quaternion_world": [
        0.9986013174057007,
        -0.0032636006362736225,
        -0.05197908729314804,
        -0.009110338054597378
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.25,
      "clearance_m": -0.00022929906845092773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1570896953344345,
      "action": [
        0.017423614859580994,
        -0.011627845466136932,
        0.01696815714240074,
        -0.38734912872314453,
        -0.43756863474845886,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.700444459915161,
        -1.1057615280151367,
        1.4238998889923096,
        -1.9545515775680542,
        -1.1097087860107422,
        -1.5907267332077026,
        0.9967390894889832,
        0.695541501045227,
        -0.15908071398735046,
        0.10196024179458618,
        0.8548420667648315,
        -0.5135260224342346,
        0.074404776096344,
        -0.4331568777561188,
        -0.7851794958114624,
        -0.44257012009620667
      ],
      "bottle_position_world": [
        0.17471927404403687,
        -0.13017918169498444,
        0.8394117951393127
      ],
      "bottle_quaternion_world": [
        0.9985744953155518,
        -0.0034838751889765263,
        -0.052426401525735855,
        -0.009399890899658203
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.300000000000001,
      "clearance_m": -0.00021833181381225586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15708008408546448,
      "action": [
        0.023852035403251648,
        -0.01232803612947464,
        0.018368225544691086,
        -0.3887944221496582,
        -0.4489292502403259,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7003355026245117,
        -1.106045126914978,
        1.424320101737976,
        -1.955704927444458,
        -1.1099852323532104,
        -1.6023995876312256,
        0.9967387914657593,
        0.6956290602684021,
        -0.15913070738315582,
        0.10204168409109116,
        0.8598284125328064,
        -0.5041862726211548,
        0.08057074248790741,
        -0.42276158928871155,
        -0.7914997935295105,
        -0.4413626194000244
      ],
      "bottle_position_world": [
        0.17473246157169342,
        -0.13018199801445007,
        0.8394235372543335
      ],
      "bottle_quaternion_world": [
        0.9985772967338562,
        -0.003598545677959919,
        -0.05231837183237076,
        -0.009660070762038231
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.3500000000000005,
      "clearance_m": -0.00021070241928100586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1570303738117218,
      "action": [
        0.01957232505083084,
        -0.008641771972179413,
        0.019941378384828568,
        -0.3937937617301941,
        -0.4335488975048065,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.700171947479248,
        -1.106332540512085,
        1.4246652126312256,
        -1.9567216634750366,
        -1.1103904247283936,
        -1.614291787147522,
        0.9967383146286011,
        0.6957040429115295,
        -0.15916764736175537,
        0.10213131457567215,
        0.8648108839988708,
        -0.4945467412471771,
        0.0867527574300766,
        -0.41213420033454895,
        -0.7978705763816833,
        -0.4399411380290985
      ],
      "bottle_position_world": [
        0.17463693022727966,
        -0.13018929958343506,
        0.8394566178321838
      ],
      "bottle_quaternion_world": [
        0.9985213875770569,
        -0.0036788764409720898,
        -0.05332590639591217,
        -0.009897038340568542
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.4,
      "clearance_m": -0.00021857023239135742,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1570294201374054,
      "action": [
        0.01793307065963745,
        -0.0069879814982414246,
        0.017206277698278427,
        -0.3932044506072998,
        -0.4319726526737213,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.700002431869507,
        -1.1066304445266724,
        1.4250439405441284,
        -1.9577662944793701,
        -1.1107983589172363,
        -1.6263618469238281,
        0.9967381954193115,
        0.6957748532295227,
        -0.1591978669166565,
        0.10221492499113083,
        0.8697352409362793,
        -0.4846780300140381,
        0.0929945781826973,
        -0.4012882709503174,
        -0.80421382188797,
        -0.4384155869483948
      ],
      "bottle_position_world": [
        0.17461256682872772,
        -0.13019166886806488,
        0.8394525647163391
      ],
      "bottle_quaternion_world": [
        0.9984973073005676,
        -0.003831195179373026,
        -0.05371391028165817,
        -0.010165093466639519
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.45,
      "clearance_m": -0.0002313852310180664,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15701057016849518,
      "action": [
        0.01979915052652359,
        -0.0073614418506622314,
        0.017020944505929947,
        -0.3908189535140991,
        -0.43922168016433716,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6998558044433594,
        -1.1069432497024536,
        1.4254865646362305,
        -1.9589189291000366,
        -1.111135482788086,
        -1.6385960578918457,
        0.9967378377914429,
        0.6958532333374023,
        -0.1592300534248352,
        0.10229833424091339,
        0.874569833278656,
        -0.47461357712745667,
        0.09934665262699127,
        -0.39021676778793335,
        -0.8104926943778992,
        -0.43684402108192444
      ],
      "bottle_position_world": [
        0.17456074059009552,
        -0.13019287586212158,
        0.8394627571105957
      ],
      "bottle_quaternion_world": [
        0.9984602332115173,
        -0.003999744076281786,
        -0.054343950003385544,
        -0.010391367599368095
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.5,
      "clearance_m": -0.0002658963203430176,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1570359319448471,
      "action": [
        0.023266546428203583,
        -0.006547853350639343,
        0.018182996660470963,
        -0.388627290725708,
        -0.45244523882865906,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.699742317199707,
        -1.1072649955749512,
        1.4260082244873047,
        -1.96017587184906,
        -1.1113545894622803,
        -1.650245189666748,
        0.9967376589775085,
        0.695937991142273,
        -0.15925772488117218,
        0.10237625241279602,
        0.8790199756622314,
        -0.46497559547424316,
        0.10546154528856277,
        -0.37958237528800964,
        -0.8163284063339233,
        -0.43534547090530396
      ],
      "bottle_position_world": [
        0.17455606162548065,
        -0.1301952749490738,
        0.8394345641136169
      ],
      "bottle_quaternion_world": [
        0.9984450936317444,
        -0.004181652795523405,
        -0.05456984043121338,
        -0.010586168617010117
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.550000000000001,
      "clearance_m": -0.0002180933952331543,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1569681018590927,
      "action": [
        0.01980172097682953,
        -0.0005254745483398438,
        0.017332393676042557,
        -0.39133310317993164,
        -0.4382026493549347,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.699575424194336,
        -1.107589602470398,
        1.4264748096466064,
        -1.9613288640975952,
        -1.111672043800354,
        -1.6621135473251343,
        0.9967374205589294,
        0.696014404296875,
        -0.15926675498485565,
        0.10245925933122635,
        0.8834517598152161,
        -0.45503759384155273,
        0.11159633100032806,
        -0.3687053620815277,
        -0.8221911191940308,
        -0.4336567223072052
      ],
      "bottle_position_world": [
        0.17448635399341583,
        -0.13018988072872162,
        0.8394949436187744
      ],
      "bottle_quaternion_world": [
        0.9984020590782166,
        -0.004358051344752312,
        -0.05529768392443657,
        -0.010800149291753769
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.6000000000000005,
      "clearance_m": -0.00022929906845092773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1569400578737259,
      "action": [
        0.018421687185764313,
        -0.0030995383858680725,
        0.018025565892457962,
        -0.38931113481521606,
        -0.43600648641586304,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6994240283966064,
        -1.107910394668579,
        1.426924705505371,
        -1.96244215965271,
        -1.1119794845581055,
        -1.6741917133331299,
        0.9967373013496399,
        0.6960867047309875,
        -0.15928249061107635,
        0.10254476219415665,
        0.8878193497657776,
        -0.4448678195476532,
        0.11777067184448242,
        -0.35761067271232605,
        -0.8280109763145447,
        -0.4318712055683136
      ],
      "bottle_position_world": [
        0.17441712319850922,
        -0.1301966905593872,
        0.8395102024078369
      ],
      "bottle_quaternion_world": [
        0.9983550906181335,
        -0.004449497442692518,
        -0.05609247833490372,
        -0.010999131016433239
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.65,
      "clearance_m": -0.00021797418594360352,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15689696371555328,
      "action": [
        0.019647017121315002,
        -0.0036636292934417725,
        0.018068615347146988,
        -0.3869602084159851,
        -0.44149476289749146,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6992948055267334,
        -1.1082439422607422,
        1.4274232387542725,
        -1.9636362791061401,
        -1.1122251749038696,
        -1.6864407062530518,
        0.9967370629310608,
        0.6961645483970642,
        -0.15930108726024628,
        0.10263200104236603,
        0.8920893669128418,
        -0.43450015783309937,
        0.12404195964336395,
        -0.3462967276573181,
        -0.8337602615356445,
        -0.43002650141716003
      ],
      "bottle_position_world": [
        0.17436181008815765,
        -0.13022002577781677,
        0.8395392298698425
      ],
      "bottle_quaternion_world": [
        0.998317539691925,
        -0.004361058119684458,
        -0.056726664304733276,
        -0.01119127869606018
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.7,
      "clearance_m": -0.00025540590286254883,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1569114625453949,
      "action": [
        0.02091483771800995,
        -0.004189282655715942,
        0.018615007400512695,
        -0.38436180353164673,
        -0.4527837336063385,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6992087364196777,
        -1.10858952999115,
        1.4279942512512207,
        -1.9649075269699097,
        -1.1123634576797485,
        -1.6981227397918701,
        0.9967370629310608,
        0.696242094039917,
        -0.15932200849056244,
        0.10271485149860382,
        0.8960005640983582,
        -0.42457589507102966,
        0.1300714612007141,
        -0.33543938398361206,
        -0.8390917778015137,
        -0.4282589554786682
      ],
      "bottle_position_world": [
        0.17430181801319122,
        -0.1302294284105301,
        0.8395106792449951
      ],
      "bottle_quaternion_world": [
        0.9982700943946838,
        -0.004463410470634699,
        -0.05751027166843414,
        -0.01138131134212017
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.75,
      "clearance_m": -0.00021129846572875977,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15684421360492706,
      "action": [
        0.016107603907585144,
        0.0049126967787742615,
        0.01613381877541542,
        -0.38594335317611694,
        -0.4376515746116638,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6990604400634766,
        -1.1089446544647217,
        1.4285374879837036,
        -1.9660799503326416,
        -1.1125942468643188,
        -1.710024356842041,
        0.9967371225357056,
        0.6963059306144714,
        -0.1593122035264969,
        0.10279496759176254,
        0.8998867273330688,
        -0.4143446087837219,
        0.1360977739095688,
        -0.3243371546268463,
        -0.8444331288337708,
        -0.4263077676296234
      ],
      "bottle_position_world": [
        0.17426812648773193,
        -0.13022488355636597,
        0.8395767211914062
      ],
      "bottle_quaternion_world": [
        0.9982436895370483,
        -0.00464018015190959,
        -0.05791371315717697,
        -0.011575949378311634
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.800000000000001,
      "clearance_m": -0.00023925304412841797,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15683846175670624,
      "action": [
        0.014843299984931946,
        -0.0006909742951393127,
        0.01856457069516182,
        -0.38318169116973877,
        -0.43399518728256226,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6989405155181885,
        -1.1092827320098877,
        1.4290214776992798,
        -1.9671571254730225,
        -1.1128144264221191,
        -1.7221590280532837,
        0.9967373609542847,
        0.6963657140731812,
        -0.15931925177574158,
        0.10288294404745102,
        0.9037021994590759,
        -0.4038778245449066,
        0.1421443372964859,
        -0.3130197823047638,
        -0.8497192859649658,
        -0.42425912618637085
      ],
      "bottle_position_world": [
        0.17420655488967896,
        -0.13024386763572693,
        0.8395665884017944
      ],
      "bottle_quaternion_world": [
        0.9981971979141235,
        -0.004616504535079002,
        -0.05867390334606171,
        -0.011771676130592823
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.8500000000000005,
      "clearance_m": -0.00023221969604492188,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15680736303329468,
      "action": [
        0.016422972083091736,
        -0.0019045844674110413,
        0.01725759729743004,
        -0.38150495290756226,
        -0.4377036690711975,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6988399028778076,
        -1.1096196174621582,
        1.4295355081558228,
        -1.9682995080947876,
        -1.1129893064498901,
        -1.7344670295715332,
        0.9967369437217712,
        0.6964319944381714,
        -0.15933232009410858,
        0.10296925157308578,
        0.9074133038520813,
        -0.3932127058506012,
        0.14827407896518707,
        -0.3014920651912689,
        -0.8549302816390991,
        -0.4221339821815491
      ],
      "bottle_position_world": [
        0.17415273189544678,
        -0.13026443123817444,
        0.8395841121673584
      ],
      "bottle_quaternion_world": [
        0.9981561899185181,
        -0.004567963071167469,
        -0.059332605451345444,
        -0.011964967474341393
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.9,
      "clearance_m": -0.00023037195205688477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15677881240844727,
      "action": [
        0.018427468836307526,
        -0.0024072080850601196,
        0.017336200922727585,
        -0.37936997413635254,
        -0.44804513454437256,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.698775291442871,
        -1.109957218170166,
        1.4301068782806396,
        -1.9695121049880981,
        -1.1130694150924683,
        -1.7462016344070435,
        0.996737003326416,
        0.6965007781982422,
        -0.15934762358665466,
        0.10304749757051468,
        0.9107896685600281,
        -0.38301047682762146,
        0.15415970981121063,
        -0.29044198989868164,
        -0.859748363494873,
        -0.4200909435749054
      ],
      "bottle_position_world": [
        0.17411190271377563,
        -0.13026414811611176,
        0.8396070003509521
      ],
      "bottle_quaternion_world": [
        0.9981207847595215,
        -0.004729885142296553,
        -0.05987203121185303,
        -0.012156432494521141
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 5.95,
      "clearance_m": -0.00024509429931640625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1567739099264145,
      "action": [
        0.014128625392913818,
        0.0023501068353652954,
        0.018440470099449158,
        -0.3811924457550049,
        -0.43169817328453064,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.698662042617798,
        -1.1102901697158813,
        1.430592656135559,
        -1.970556378364563,
        -1.113250732421875,
        -1.7581779956817627,
        0.9967373609542847,
        0.696556806564331,
        -0.15934604406356812,
        0.10313288867473602,
        0.9141340851783752,
        -0.3724965453147888,
        0.16001689434051514,
        -0.2791515588760376,
        -0.8645626306533813,
        -0.41785913705825806
      ],
      "bottle_position_world": [
        0.17407746613025665,
        -0.13027437031269073,
        0.8396032452583313
      ],
      "bottle_quaternion_world": [
        0.9980876445770264,
        -0.004805670585483313,
        -0.06037362664937973,
        -0.012368088588118553
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.0,
      "clearance_m": -0.0002294778823852539,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15673159062862396,
      "action": [
        0.013516947627067566,
        -0.0006280019879341125,
        0.018011458218097687,
        -0.3806450366973877,
        -0.427142858505249,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6985552310943604,
        -1.110604166984558,
        1.4310325384140015,
        -1.9715383052825928,
        -1.1134487390518188,
        -1.7703603506088257,
        0.9967370629310608,
        0.696611225605011,
        -0.1593535989522934,
        0.10321890562772751,
        0.9173967242240906,
        -0.36175060272216797,
        0.16589073836803436,
        -0.2676570415496826,
        -0.8693182468414307,
        -0.4155065417289734
      ],
      "bottle_position_world": [
        0.1739988476037979,
        -0.13026414811611176,
        0.8396367430686951
      ],
      "bottle_quaternion_world": [
        0.9980280995368958,
        -0.005071032792329788,
        -0.061286162585020065,
        -0.012576351873576641
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.050000000000001,
      "clearance_m": -0.0002232193946838379,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15671522915363312,
      "action": [
        0.016934603452682495,
        -0.001864790916442871,
        0.016002990305423737,
        -0.37848961353302,
        -0.4310011565685272,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.698463201522827,
        -1.1108982563018799,
        1.4314850568771362,
        -1.9725844860076904,
        -1.1135966777801514,
        -1.7827130556106567,
        0.9967368841171265,
        0.6966789960861206,
        -0.15936648845672607,
        0.10329900681972504,
        0.920545220375061,
        -0.350809246301651,
        0.1718411147594452,
        -0.2559553384780884,
        -0.8739864826202393,
        -0.41307929158210754
      ],
      "bottle_position_world": [
        0.1739886999130249,
        -0.13024747371673584,
        0.8396567702293396
      ],
      "bottle_quaternion_world": [
        0.9980083703994751,
        -0.005413339473307133,
        -0.06153365597128868,
        -0.012790150940418243
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.1000000000000005,
      "clearance_m": -0.00023126602172851562,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15670213103294373,
      "action": [
        0.022618472576141357,
        -0.0056073591113090515,
        0.017658252269029617,
        -0.3768237829208374,
        -0.4410342574119568,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6984076499938965,
        -1.1111615896224976,
        1.4319344758987427,
        -1.9736709594726562,
        -1.1136585474014282,
        -1.7944920063018799,
        0.9967452883720398,
        0.6967612504959106,
        -0.15939168632030487,
        0.10337520390748978,
        0.9233838319778442,
        -0.3403502404689789,
        0.17755027115345,
        -0.2447497695684433,
        -0.8782874345779419,
        -0.41074198484420776
      ],
      "bottle_position_world": [
        0.17394089698791504,
        -0.13023348152637482,
        0.8396660089492798
      ],
      "bottle_quaternion_world": [
        0.9979614019393921,
        -0.0057129100896418095,
        -0.06222780793905258,
        -0.012973520904779434
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.15,
      "clearance_m": -0.00022125244140625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15665294229984283,
      "action": [
        0.019831940531730652,
        4.6603381633758545e-05,
        0.01661098748445511,
        -0.379814088344574,
        -0.42520636320114136,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.698291778564453,
        -1.1114031076431274,
        1.4323039054870605,
        -1.974614143371582,
        -1.1138325929641724,
        -1.8064957857131958,
        0.9967586398124695,
        0.6968346238136292,
        -0.15939678251743317,
        0.10344517976045609,
        0.9261789917945862,
        -0.32958343625068665,
        0.183214470744133,
        -0.2333134561777115,
        -0.8825693726539612,
        -0.4082113802433014
      ],
      "bottle_position_world": [
        0.17385220527648926,
        -0.1302429884672165,
        0.8396995663642883
      ],
      "bottle_quaternion_world": [
        0.9978737831115723,
        -0.005700128618627787,
        -0.06359030306339264,
        -0.01310702320188284
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.2,
      "clearance_m": -0.00028270483016967773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15665481984615326,
      "action": [
        0.017138779163360596,
        0.00022500008344650269,
        0.01665588468313217,
        -0.3787880539894104,
        -0.4227713346481323,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6981797218322754,
        -1.1116576194763184,
        1.4326834678649902,
        -1.9755361080169678,
        -1.114006757736206,
        -1.8186956644058228,
        0.9967676997184753,
        0.6968997120857239,
        -0.15939974784851074,
        0.10351718962192535,
        0.928877055644989,
        -0.3185940980911255,
        0.18890534341335297,
        -0.22167320549488068,
        -0.8867767453193665,
        -0.40557146072387695
      ],
      "bottle_position_world": [
        0.17375849187374115,
        -0.13025806844234467,
        0.8396770358085632
      ],
      "bottle_quaternion_world": [
        0.9977765679359436,
        -0.005670462269335985,
        -0.0650852844119072,
        -0.013178861699998379
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.25,
      "clearance_m": -0.00025093555450439453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1565724015235901,
      "action": [
        0.017820701003074646,
        0.003301389515399933,
        0.01537497341632843,
        -0.37722986936569214,
        -0.42910072207450867,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6980719566345215,
        -1.111940860748291,
        1.433152675628662,
        -1.9765803813934326,
        -1.1141225099563599,
        -1.831043004989624,
        0.9967742562294006,
        0.6969683766365051,
        -0.15939095616340637,
        0.1035861074924469,
        0.9314436912536621,
        -0.307422399520874,
        0.19469037652015686,
        -0.20983090996742249,
        -0.8908856511116028,
        -0.40285739302635193
      ],
      "bottle_position_world": [
        0.17367617785930634,
        -0.1302797794342041,
        0.8397433757781982
      ],
      "bottle_quaternion_world": [
        0.9976955652236938,
        -0.0055424366146326065,
        -0.06631311774253845,
        -0.013246907852590084
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.300000000000001,
      "clearance_m": -0.00025910139083862305,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1565278023481369,
      "action": [
        0.018457643687725067,
        0.0022543519735336304,
        0.017764423042535782,
        -0.37441694736480713,
        -0.4413353502750397,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6980128288269043,
        -1.1122488975524902,
        1.4336981773376465,
        -1.977705478668213,
        -1.1141300201416016,
        -1.8428218364715576,
        0.9967801570892334,
        0.6970351934432983,
        -0.1593875139951706,
        0.10365753620862961,
        0.9337180256843567,
        -0.2967582941055298,
        0.2002628594636917,
        -0.19849306344985962,
        -0.8946465253829956,
        -0.40026015043258667
      ],
      "bottle_position_world": [
        0.17358282208442688,
        -0.13030222058296204,
        0.8397678732872009
      ],
      "bottle_quaternion_world": [
        0.9975989460945129,
        -0.00538029195740819,
        -0.0677395686507225,
        -0.013376381248235703
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.3500000000000005,
      "clearance_m": -0.0002587437629699707,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15646089613437653,
      "action": [
        0.011905349791049957,
        0.009434573352336884,
        0.018134787678718567,
        -0.3759686350822449,
        -0.4267072081565857,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6979053020477295,
        -1.1125805377960205,
        1.4342128038406372,
        -1.9786994457244873,
        -1.1142258644104004,
        -1.8548368215560913,
        0.9967859983444214,
        0.6970809698104858,
        -0.1593588888645172,
        0.10373388230800629,
        0.9359327554702759,
        -0.28579020500183105,
        0.2058005928993225,
        -0.18691709637641907,
        -0.8983685970306396,
        -0.39748692512512207
      ],
      "bottle_position_world": [
        0.17345887422561646,
        -0.1303345113992691,
        0.8398078680038452
      ],
      "bottle_quaternion_world": [
        0.9974903464317322,
        -0.005120260175317526,
        -0.0693233534693718,
        -0.013455326668918133
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.4,
      "clearance_m": -0.00026929378509521484,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15641899406909943,
      "action": [
        0.008033640682697296,
        0.009649664163589478,
        0.017569057643413544,
        -0.3738209009170532,
        -0.42409050464630127,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6978085041046143,
        -1.1129322052001953,
        1.4347503185272217,
        -1.979668140411377,
        -1.114310622215271,
        -1.8670598268508911,
        0.9967898726463318,
        0.6971136331558228,
        -0.15932723879814148,
        0.10381148755550385,
        0.9380411505699158,
        -0.2746022045612335,
        0.2113586664199829,
        -0.17513816058635712,
        -0.9020017981529236,
        -0.3946131467819214
      ],
      "bottle_position_world": [
        0.1733601689338684,
        -0.13035932183265686,
        0.8398280739784241
      ],
      "bottle_quaternion_world": [
        0.9973881840705872,
        -0.004950013477355242,
        -0.07077953964471817,
        -0.013517233543097973
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.45,
      "clearance_m": -0.0002848505973815918,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15637275576591492,
      "action": [
        0.00878489762544632,
        0.009022153913974762,
        0.01628810539841652,
        -0.37074190378189087,
        -0.4288766086101532,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.697737693786621,
        -1.1132913827896118,
        1.435338020324707,
        -1.980708360671997,
        -1.1143285036087036,
        -1.8794633150100708,
        0.9967957735061646,
        0.6971494555473328,
        -0.15929846465587616,
        0.10388586670160294,
        0.9400123953819275,
        -0.2632319927215576,
        0.21699288487434387,
        -0.16316068172454834,
        -0.9055236577987671,
        -0.39167067408561707
      ],
      "bottle_position_world": [
        0.17325544357299805,
        -0.13039477169513702,
        0.8398489356040955
      ],
      "bottle_quaternion_world": [
        0.9972790479660034,
        -0.004666254855692387,
        -0.07230772078037262,
        -0.013575800694525242
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.5,
      "clearance_m": -0.000306546688079834,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15634150803089142,
      "action": [
        0.010465741157531738,
        0.009293727576732635,
        0.0166243314743042,
        -0.3681632876396179,
        -0.4399530589580536,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6977005004882812,
        -1.1136606931686401,
        1.4359875917434692,
        -1.9818353652954102,
        -1.1142507791519165,
        -1.8912869691848755,
        0.996805727481842,
        0.6971902251243591,
        -0.15927116572856903,
        0.10395900160074234,
        0.9417181611061096,
        -0.2523813843727112,
        0.22242063283920288,
        -0.1516997069120407,
        -0.9087277054786682,
        -0.38884666562080383
      ],
      "bottle_position_world": [
        0.17314061522483826,
        -0.13043425977230072,
        0.8398512601852417
      ],
      "bottle_quaternion_world": [
        0.997177243232727,
        -0.0043051415123045444,
        -0.07371315360069275,
        -0.013621480204164982
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.550000000000001,
      "clearance_m": -0.00031954050064086914,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1562930941581726,
      "action": [
        0.004262521862983704,
        0.018668971955776215,
        0.014927837997674942,
        -0.3691245913505554,
        -0.4253559112548828,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.697608470916748,
        -1.114053726196289,
        1.4366201162338257,
        -1.9828546047210693,
        -1.1142531633377075,
        -1.9033398628234863,
        0.9968311190605164,
        0.6972123980522156,
        -0.15921232104301453,
        0.10403446108102798,
        0.9433498382568359,
        -0.24122962355613708,
        0.22781452536582947,
        -0.13999943435192108,
        -0.91187584400177,
        -0.38585320115089417
      ],
      "bottle_position_world": [
        0.17303621768951416,
        -0.13050591945648193,
        0.8398646712303162
      ],
      "bottle_quaternion_world": [
        0.9970847964286804,
        -0.0036043717991560698,
        -0.07498566061258316,
        -0.013645688071846962
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.6000000000000005,
      "clearance_m": -0.00023090839385986328,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15612897276878357,
      "action": [
        -0.0022230595350265503,
        0.01714281737804413,
        0.01997395232319832,
        -0.3685622811317444,
        -0.4239490330219269,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.697540521621704,
        -1.1145148277282715,
        1.4372769594192505,
        -1.9838323593139648,
        -1.1142464876174927,
        -1.9156056642532349,
        0.9968568682670593,
        0.6972147822380066,
        -0.15915782749652863,
        0.10414005815982819,
        0.9448562264442444,
        -0.22986748814582825,
        0.23325443267822266,
        -0.12810015678405762,
        -0.9149307012557983,
        -0.382743239402771
      ],
      "bottle_position_world": [
        0.172883540391922,
        -0.1305883675813675,
        0.8399885892868042
      ],
      "bottle_quaternion_world": [
        0.996976375579834,
        -0.0027158374432474375,
        -0.07648050785064697,
        -0.013475712388753891
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.65,
      "clearance_m": -0.00020563602447509766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15603244304656982,
      "action": [
        -0.00503714382648468,
        0.013929858803749084,
        0.016356971114873886,
        -0.3646535277366638,
        -0.4272366762161255,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6975197792053223,
        -1.1149826049804688,
        1.438011884689331,
        -1.9848613739013672,
        -1.1141743659973145,
        -1.9280860424041748,
        0.996861457824707,
        0.6972037553787231,
        -0.1591130942106247,
        0.10422653704881668,
        0.9462240934371948,
        -0.2183242291212082,
        0.23873582482337952,
        -0.116013303399086,
        -0.9178609848022461,
        -0.3795689046382904
      ],
      "bottle_position_world": [
        0.17274998128414154,
        -0.13067999482154846,
        0.8400423526763916
      ],
      "bottle_quaternion_world": [
        0.9968794584274292,
        -0.001721385633572936,
        -0.07780151814222336,
        -0.01324616651982069
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.7,
      "clearance_m": -0.00014358758926391602,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15590211749076843,
      "action": [
        -0.007140681147575378,
        0.01390025019645691,
        0.014369640499353409,
        -0.35956358909606934,
        -0.43693283200263977,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6975462436676025,
        -1.1154544353485107,
        1.4388389587402344,
        -1.9859566688537598,
        -1.1140000820159912,
        -1.94001305103302,
        0.9968470335006714,
        0.6971825957298279,
        -0.15906937420368195,
        0.10429058969020844,
        0.9473627805709839,
        -0.20731210708618164,
        0.24397854506969452,
        -0.10445795208215714,
        -0.9204899668693542,
        -0.3765459954738617
      ],
      "bottle_position_world": [
        0.17260940372943878,
        -0.1307777464389801,
        0.8401288986206055
      ],
      "bottle_quaternion_world": [
        0.9967833161354065,
        -0.0006638247868977487,
        -0.07907970249652863,
        -0.013003812171518803
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.75,
      "clearance_m": -0.0001232624053955078,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15579554438591003,
      "action": [
        -0.01691700518131256,
        0.01955731213092804,
        0.01510867103934288,
        -0.35725343227386475,
        -0.4208250045776367,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6975514888763428,
        -1.1159491539001465,
        1.439643383026123,
        -1.9868566989898682,
        -1.1138858795166016,
        -1.9522264003753662,
        0.9968245625495911,
        0.6971238851547241,
        -0.1590031087398529,
        0.10435140132904053,
        0.9484291076660156,
        -0.19599606096744537,
        0.24913382530212402,
        -0.09266526997089386,
        -0.9230339527130127,
        -0.37339189648628235
      ],
      "bottle_position_world": [
        0.1724410355091095,
        -0.13089227676391602,
        0.8401814103126526
      ],
      "bottle_quaternion_world": [
        0.9966605305671692,
        0.0005266643711365759,
        -0.0806332603096962,
        -0.012874734587967396
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.800000000000001,
      "clearance_m": -0.00011581182479858398,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15570107102394104,
      "action": [
        -0.02323272079229355,
        0.019582025706768036,
        0.012553736567497253,
        -0.3526739478111267,
        -0.41583359241485596,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.697580575942993,
        -1.1164586544036865,
        1.4404774904251099,
        -1.987688422203064,
        -1.1137492656707764,
        -1.9646803140640259,
        0.9968051314353943,
        0.6970406174659729,
        -0.15893399715423584,
        0.10440197587013245,
        0.9493789672851562,
        -0.18446281552314758,
        0.25426971912384033,
        -0.08067598938941956,
        -0.9254581928253174,
        -0.3701602816581726
      ],
      "bottle_position_world": [
        0.1722816526889801,
        -0.13102038204669952,
        0.840219259262085
      ],
      "bottle_quaternion_world": [
        0.9965394735336304,
        0.0018181566847488284,
        -0.08210238069295883,
        -0.012843853794038296
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.8500000000000005,
      "clearance_m": -0.00011485815048217773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15561267733573914,
      "action": [
        -0.026790015399456024,
        0.019988246262073517,
        0.0110393725335598,
        -0.34789395332336426,
        -0.4191655218601227,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6976473331451416,
        -1.1170010566711426,
        1.4413979053497314,
        -1.988565444946289,
        -1.1135365962982178,
        -1.9773404598236084,
        0.9967914819717407,
        0.6969425082206726,
        -0.15886323153972626,
        0.10444743186235428,
        0.9501773715019226,
        -0.17275507748126984,
        0.2594587802886963,
        -0.0684979110956192,
        -0.9277468323707581,
        -0.3668707609176636
      ],
      "bottle_position_world": [
        0.17212998867034912,
        -0.13115976750850677,
        0.8402491807937622
      ],
      "bottle_quaternion_world": [
        0.9964200854301453,
        0.003207181813195348,
        -0.08349614590406418,
        -0.01284992229193449
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.9,
      "clearance_m": -0.0001156926155090332,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15553200244903564,
      "action": [
        -0.02806790918111801,
        0.020903989672660828,
        0.010183226317167282,
        -0.3441094756126404,
        -0.4286704659461975,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.697746992111206,
        -1.1175529956817627,
        1.442385196685791,
        -1.9895201921463013,
        -1.1132394075393677,
        -1.9894232749938965,
        0.9967820048332214,
        0.6968444585800171,
        -0.1587936133146286,
        0.1044861301779747,
        0.9507660865783691,
        -0.16159513592720032,
        0.26444441080093384,
        -0.05686178803443909,
        -0.9297705888748169,
        -0.36372166872024536
      ],
      "bottle_position_world": [
        0.1719963103532791,
        -0.13129983842372894,
        0.8402739763259888
      ],
      "bottle_quaternion_world": [
        0.9963116645812988,
        0.0046007707715034485,
        -0.0847158208489418,
        -0.012851854786276817
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 6.95,
      "clearance_m": -0.00011599063873291016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.155439555644989,
      "action": [
        -0.03588124364614487,
        0.02810075134038925,
        0.010339371860027313,
        -0.34412676095962524,
        -0.41274482011795044,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6978065967559814,
        -1.118129849433899,
        1.4433406591415405,
        -1.990302562713623,
        -1.113021731376648,
        -2.0017666816711426,
        0.9967756867408752,
        0.6967170238494873,
        -0.158697247505188,
        0.10452719777822495,
        0.9512667059898376,
        -0.150135800242424,
        0.2693530321121216,
        -0.04499358311295509,
        -0.9317032694816589,
        -0.3604232370853424
      ],
      "bottle_position_world": [
        0.1718384027481079,
        -0.13145223259925842,
        0.8403040766716003
      ],
      "bottle_quaternion_world": [
        0.9961792230606079,
        0.0061158547177910805,
        -0.0861651673913002,
        -0.012856606394052505
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.0,
      "clearance_m": -0.00011605024337768555,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15534448623657227,
      "action": [
        -0.04105757176876068,
        0.02732866257429123,
        0.008636467158794403,
        -0.3419378995895386,
        -0.4085121750831604,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6978838443756104,
        -1.1187247037887573,
        1.4443174600601196,
        -1.9910297393798828,
        -1.1127995252609253,
        -2.014335870742798,
        0.9967711567878723,
        0.6965692043304443,
        -0.15860095620155334,
        0.10456396639347076,
        0.9516368508338928,
        -0.1384688913822174,
        0.2742512822151184,
        -0.032940030097961426,
        -0.9335126876831055,
        -0.35702836513519287
      ],
      "bottle_position_world": [
        0.17168086767196655,
        -0.13161568343639374,
        0.8403342962265015
      ],
      "bottle_quaternion_world": [
        0.9960418939590454,
        0.007732533849775791,
        -0.08760810643434525,
        -0.012875599786639214
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.050000000000001,
      "clearance_m": -0.00011610984802246094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15524783730506897,
      "action": [
        -0.04326649010181427,
        0.026245400309562683,
        0.007459130138158798,
        -0.3394070863723755,
        -0.41238781809806824,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6979947090148926,
        -1.119348168373108,
        1.445367693901062,
        -1.9918118715286255,
        -1.1125198602676392,
        -2.0271003246307373,
        0.9967681765556335,
        0.6964108943939209,
        -0.15850786864757538,
        0.10459740459918976,
        0.9518439173698425,
        -0.12663595378398895,
        0.2792072296142578,
        -0.020710669457912445,
        -0.9351851344108582,
        -0.35355350375175476
      ],
      "bottle_position_world": [
        0.17152443528175354,
        -0.13178777694702148,
        0.8403643369674683
      ],
      "bottle_quaternion_world": [
        0.99590003490448,
        0.00943067017942667,
        -0.08903847634792328,
        -0.012900163419544697
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.1000000000000005,
      "clearance_m": -0.00011736154556274414,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15515579283237457,
      "action": [
        -0.04337559640407562,
        0.02585820108652115,
        0.006767071783542633,
        -0.3374714255332947,
        -0.4224620759487152,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6981325149536133,
        -1.119971513748169,
        1.4464691877365112,
        -1.9926880598068237,
        -1.1121737957000732,
        -2.0392730236053467,
        0.9967668056488037,
        0.696259617805481,
        -0.15842072665691376,
        0.10462507605552673,
        0.9518657922744751,
        -0.1153663620352745,
        0.28397542238235474,
        -0.00903912354260683,
        -0.9366273283958435,
        -0.35021063685417175
      ],
      "bottle_position_world": [
        0.17137612402439117,
        -0.13195694983005524,
        0.8403919339179993
      ],
      "bottle_quaternion_world": [
        0.9957607388496399,
        0.01109981443732977,
        -0.09039056301116943,
        -0.012918205931782722
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.15,
      "clearance_m": -0.00011777877807617188,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15505579113960266,
      "action": [
        -0.050274237990379333,
        0.0327339842915535,
        0.0072609856724739075,
        -0.33874791860580444,
        -0.40721115469932556,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6982269287109375,
        -1.1206196546554565,
        1.4475358724594116,
        -1.993399739265442,
        -1.111914873123169,
        -2.051697254180908,
        0.9967665076255798,
        0.6960810422897339,
        -0.1583082526922226,
        0.10465629398822784,
        0.951786458492279,
        -0.10380573570728302,
        0.28866446018218994,
        0.00285548809915781,
        -0.9379666447639465,
        -0.3467143177986145
      ],
      "bottle_position_world": [
        0.17121343314647675,
        -0.13213786482810974,
        0.8404227495193481
      ],
      "bottle_quaternion_world": [
        0.9956030249595642,
        0.012882519513368607,
        -0.09187736362218857,
        -0.012937745079398155
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.2,
      "clearance_m": -0.00011843442916870117,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1549532264471054,
      "action": [
        -0.054715558886528015,
        0.03117746114730835,
        0.005805354565382004,
        -0.33777981996536255,
        -0.40350109338760376,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6983375549316406,
        -1.121285319328308,
        1.4486198425292969,
        -1.9940640926361084,
        -1.111660361289978,
        -2.0643410682678223,
        0.996766984462738,
        0.6958841681480408,
        -0.15819816291332245,
        0.10468442738056183,
        0.951565682888031,
        -0.09204523265361786,
        0.2933433949947357,
        0.014925737865269184,
        -0.9391760230064392,
        -0.3431115746498108
      ],
      "bottle_position_world": [
        0.17104965448379517,
        -0.13232916593551636,
        0.8404536843299866
      ],
      "bottle_quaternion_world": [
        0.995437502861023,
        0.014764483086764812,
        -0.09337176382541656,
        -0.012960890308022499
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.25,
      "clearance_m": -0.00011926889419555664,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15484943985939026,
      "action": [
        -0.056211307644844055,
        0.029488958418369293,
        0.0046712979674339294,
        -0.3362998962402344,
        -0.4079112112522125,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.698479413986206,
        -1.121977686882019,
        1.4497753381729126,
        -1.9947941303253174,
        -1.111356496810913,
        -2.077174425125122,
        0.9967684745788574,
        0.6956790089607239,
        -0.1580931395292282,
        0.10470934212207794,
        0.9511717557907104,
        -0.08012691885232925,
        0.2980806827545166,
        0.027161139994859695,
        -0.9402437806129456,
        -0.3394172489643097
      ],
      "bottle_position_world": [
        0.17088688910007477,
        -0.13252846896648407,
        0.8404843211174011
      ],
      "bottle_quaternion_world": [
        0.9952661991119385,
        0.016722582280635834,
        -0.09485321491956711,
        -0.012982682324945927
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.300000000000001,
      "clearance_m": -0.00012099742889404297,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15475088357925415,
      "action": [
        -0.05573178827762604,
        0.02868068963289261,
        0.004022285342216492,
        -0.3352423310279846,
        -0.4186183214187622,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.698646068572998,
        -1.1226660013198853,
        1.4509773254394531,
        -1.995632290840149,
        -1.1109918355941772,
        -2.0894060134887695,
        0.9967706203460693,
        0.69548499584198,
        -0.15799668431282043,
        0.10472895205020905,
        0.9506180286407471,
        -0.06878692656755447,
        0.3026449680328369,
        0.03882625699043274,
        -0.9411128759384155,
        -0.33585619926452637
      ],
      "bottle_position_world": [
        0.17073272168636322,
        -0.13272321224212646,
        0.8405123949050903
      ],
      "bottle_quaternion_world": [
        0.9950977563858032,
        0.0186361875385046,
        -0.09625168144702911,
        -0.012991960160434246
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.3500000000000005,
      "clearance_m": -0.00012183189392089844,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15464480221271515,
      "action": [
        -0.06205613911151886,
        0.03537673503160477,
        0.004771765321493149,
        -0.3372153043746948,
        -0.40381136536598206,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6987669467926025,
        -1.1233799457550049,
        1.4521434307098389,
        -1.9963129758834839,
        -1.1107196807861328,
        -2.101884126663208,
        0.9967732429504395,
        0.6952652335166931,
        -0.15787513554096222,
        0.10475344955921173,
        0.949950635433197,
        -0.0571618415415287,
        0.3071261942386627,
        0.05070781707763672,
        -0.941866397857666,
        -0.3321395516395569
      ],
      "bottle_position_world": [
        0.17056451737880707,
        -0.13292913138866425,
        0.8405436277389526
      ],
      "bottle_quaternion_world": [
        0.9949086308479309,
        0.02065715193748474,
        -0.0977812185883522,
        -0.01300282496958971
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.4,
      "clearance_m": -0.00012302398681640625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15453678369522095,
      "action": [
        -0.06604523956775665,
        0.03358326107263565,
        0.0032080747187137604,
        -0.3368428349494934,
        -0.4005836248397827,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6989026069641113,
        -1.1241120100021362,
        1.4533292055130005,
        -1.9969555139541626,
        -1.110454797744751,
        -2.1145782470703125,
        0.9967766404151917,
        0.6950280666351318,
        -0.15775662660598755,
        0.10477471351623535,
        0.9491320252418518,
        -0.04534449428319931,
        0.31159645318984985,
        0.06275676935911179,
        -0.9424823522567749,
        -0.3283120095729828
      ],
      "bottle_position_world": [
        0.17039573192596436,
        -0.13314521312713623,
        0.8405745625495911
      ],
      "bottle_quaternion_world": [
        0.9947105050086975,
        0.022775128483772278,
        -0.09931313991546631,
        -0.01301536988466978
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.45,
      "clearance_m": -0.00012433528900146484,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15442775189876556,
      "action": [
        -0.06722898781299591,
        0.03166697174310684,
        0.002081170678138733,
        -0.33581942319869995,
        -0.4055238366127014,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6990699768066406,
        -1.124871850013733,
        1.45458984375,
        -1.997673511505127,
        -1.1101418733596802,
        -2.1274573802948,
        0.9967806935310364,
        0.6947832107543945,
        -0.15764427185058594,
        0.1047927588224411,
        0.9481302499771118,
        -0.03338007628917694,
        0.31612473726272583,
        0.07495898753404617,
        -0.9429500699043274,
        -0.3243865966796875
      ],
      "bottle_position_world": [
        0.17022842168807983,
        -0.13336940109729767,
        0.8406051397323608
      ],
      "bottle_quaternion_world": [
        0.9945052266120911,
        0.024969780817627907,
        -0.1008276641368866,
        -0.013026325963437557
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.5,
      "clearance_m": -0.00012671947479248047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15432482957839966,
      "action": [
        -0.06649540364742279,
        0.030720703303813934,
        0.0014243610203266144,
        -0.33514994382858276,
        -0.41666194796562195,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6992597579956055,
        -1.1256248950958252,
        1.4558932781219482,
        -1.9985076189041138,
        -1.1097698211669922,
        -2.139730215072632,
        0.9967853426933289,
        0.6945524215698242,
        -0.15754061937332153,
        0.10480628907680511,
        0.946995735168457,
        -0.02200312539935112,
        0.3204919397830963,
        0.08658447116613388,
        -0.9432492852210999,
        -0.3205995559692383
      ],
      "bottle_position_world": [
        0.17007051408290863,
        -0.13358762860298157,
        0.8406327366828918
      ],
      "bottle_quaternion_world": [
        0.9943038821220398,
        0.027106761932373047,
        -0.10225152224302292,
        -0.013024832122027874
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.550000000000001,
      "clearance_m": -0.00012737512588500977,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15421411395072937,
      "action": [
        -0.07235760986804962,
        0.03722083568572998,
        0.00248800590634346,
        -0.3374466300010681,
        -0.40215039253234863,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6994028091430664,
        -1.1264036893844604,
        1.4571592807769775,
        -1.999185562133789,
        -1.109492301940918,
        -2.152247190475464,
        0.9967897534370422,
        0.6942968368530273,
        -0.15741237998008728,
        0.10482491552829742,
        0.9457366466522217,
        -0.010348061099648476,
        0.32476964592933655,
        0.09841901063919067,
        -0.9434201121330261,
        -0.3166584372520447
      ],
      "bottle_position_world": [
        0.16989850997924805,
        -0.13381671905517578,
        0.8406640291213989
      ],
      "bottle_quaternion_world": [
        0.9940791130065918,
        0.029347814619541168,
        -0.10380653291940689,
        -0.013024566695094109
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.6000000000000005,
      "clearance_m": -0.00012868642807006836,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15410223603248596,
      "action": [
        -0.07610327005386353,
        0.035234443843364716,
        0.0008986741304397583,
        -0.33743607997894287,
        -0.39918747544288635,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6995604038238525,
        -1.1272006034851074,
        1.4584461450576782,
        -1.9998317956924438,
        -1.1092243194580078,
        -2.1649773120880127,
        0.9967954158782959,
        0.6940242648124695,
        -0.15728794038295746,
        0.10484050214290619,
        0.9443174004554749,
        0.001490805298089981,
        0.3290330767631531,
        0.11041150242090225,
        -0.943445086479187,
        -0.3126038610935211
      ],
      "bottle_position_world": [
        0.16972632706165314,
        -0.13405612111091614,
        0.8406943678855896
      ],
      "bottle_quaternion_world": [
        0.9938438534736633,
        0.03168528899550438,
        -0.10535991191864014,
        -0.013029132969677448
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.65,
      "clearance_m": -0.0001309514045715332,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15399053692817688,
      "action": [
        -0.07714241743087769,
        0.033220164477825165,
        -0.0004584603011608124,
        -0.3366621136665344,
        -0.4043256640434265,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.699749708175659,
        -1.128026008605957,
        1.4598113298416138,
        -2.000559091567993,
        -1.108909249305725,
        -2.1778924465179443,
        0.9968011379241943,
        0.6937441825866699,
        -0.15716971457004547,
        0.10485220700502396,
        0.9427064061164856,
        0.01347026415169239,
        0.33335161209106445,
        0.12254883348941803,
        -0.9433150291442871,
        -0.30844563245773315
      ],
      "bottle_position_world": [
        0.16955627501010895,
        -0.13430380821228027,
        0.8407232761383057
      ],
      "bottle_quaternion_world": [
        0.9936004281044006,
        0.034100767225027084,
        -0.1068904846906662,
        -0.013033723458647728
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.7,
      "clearance_m": -0.00013387203216552734,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15388472378253937,
      "action": [
        -0.07633967697620392,
        0.032122738659381866,
        -0.001249801367521286,
        -0.3361189365386963,
        -0.4156799614429474,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6999614238739014,
        -1.1288411617279053,
        1.461215615272522,
        -2.0014071464538574,
        -1.1085351705551147,
        -2.1901979446411133,
        0.9968074560165405,
        0.6934801340103149,
        -0.15706178545951843,
        0.10485926270484924,
        0.9409908652305603,
        0.024851851165294647,
        0.33751869201660156,
        0.13410146534442902,
        -0.9430471062660217,
        -0.30443283915519714
      ],
      "bottle_position_world": [
        0.16939584910869598,
        -0.13454468548297882,
        0.8407496809959412
      ],
      "bottle_quaternion_world": [
        0.9933612942695618,
        0.03644830361008644,
        -0.1083284541964531,
        -0.013031589798629284
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.75,
      "clearance_m": -0.0001342296600341797,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15377113223075867,
      "action": [
        -0.0820317417383194,
        0.03865009546279907,
        8.884072303771973e-05,
        -0.33858388662338257,
        -0.4011995792388916,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7001261711120605,
        -1.1296838521957397,
        1.4625823497772217,
        -2.0020980834960938,
        -1.1082571744918823,
        -2.2027463912963867,
        0.9968134760856628,
        0.69319087266922,
        -0.1569291055202484,
        0.10487241297960281,
        0.9391406774520874,
        0.036504391580820084,
        0.3415881395339966,
        0.14585550129413605,
        -0.9426371455192566,
        -0.30026936531066895
      ],
      "bottle_position_world": [
        0.16922126710414886,
        -0.1347963511943817,
        0.8407799601554871
      ],
      "bottle_quaternion_world": [
        0.9930959343910217,
        0.038899343460798264,
        -0.10989847779273987,
        -0.013029216788709164
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.800000000000001,
      "clearance_m": -0.00013583898544311523,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15365715324878693,
      "action": [
        -0.08566571772098541,
        0.03661360591650009,
        -0.0017829500138759613,
        -0.3387344479560852,
        -0.39823395013809204,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7003045082092285,
        -1.1305440664291382,
        1.4639712572097778,
        -2.0027596950531006,
        -1.1079905033111572,
        -2.215507745742798,
        0.9968208074569702,
        0.6928847432136536,
        -0.1568000316619873,
        0.10488145053386688,
        0.9371227622032166,
        0.04833422228693962,
        0.34563690423965454,
        0.15775948762893677,
        -0.9420727491378784,
        -0.2959917187690735
      ],
      "bottle_position_world": [
        0.16904695332050323,
        -0.13505858182907104,
        0.840808629989624
      ],
      "bottle_quaternion_world": [
        0.9928181767463684,
        0.04144810885190964,
        -0.11146391928195953,
        -0.013035191223025322
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.8500000000000005,
      "clearance_m": -0.0001379847526550293,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15354318916797638,
      "action": [
        -0.08675207197666168,
        0.03449413925409317,
        -0.0031164847314357758,
        -0.3380255103111267,
        -0.4034683108329773,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7005152702331543,
        -1.1314340829849243,
        1.4654407501220703,
        -2.0035037994384766,
        -1.1076768636703491,
        -2.228454113006592,
        0.9968281984329224,
        0.6925703883171082,
        -0.1566772311925888,
        0.10488635301589966,
        0.9349061250686646,
        0.06029634550213814,
        0.349735826253891,
        0.1697981059551239,
        -0.9413470029830933,
        -0.2916073203086853
      ],
      "bottle_position_world": [
        0.1688748300075531,
        -0.13532958924770355,
        0.8408360481262207
      ],
      "bottle_quaternion_world": [
        0.9925304651260376,
        0.04407847300171852,
        -0.11300551146268845,
        -0.013045658357441425
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.9,
      "clearance_m": -0.00014102458953857422,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1534358114004135,
      "action": [
        -0.0860116183757782,
        0.033294759690761566,
        -0.003973528742790222,
        -0.33755093812942505,
        -0.4148017168045044,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.700747489929199,
        -1.1323107481002808,
        1.4669444561004639,
        -2.004369020462036,
        -1.1073048114776611,
        -2.240790605545044,
        0.9968358278274536,
        0.6922737956047058,
        -0.15656520426273346,
        0.10488718748092651,
        0.9326135516166687,
        0.0716555267572403,
        0.35369133949279785,
        0.1812487244606018,
        -0.940513014793396,
        -0.28737500309944153
      ],
      "bottle_position_world": [
        0.16871272027492523,
        -0.13559307157993317,
        0.8408604860305786
      ],
      "bottle_quaternion_world": [
        0.9922478795051575,
        0.04663272202014923,
        -0.11445214599370956,
        -0.013053810223937035
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 7.95,
      "clearance_m": -0.00014072656631469727,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15332047641277313,
      "action": [
        -0.09147267043590546,
        0.03975341469049454,
        -0.002476293593645096,
        -0.340093731880188,
        -0.4002196192741394,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.700932025909424,
        -1.1332145929336548,
        1.4684079885482788,
        -2.005073070526123,
        -1.1070305109024048,
        -2.253368854522705,
        0.9968429207801819,
        0.6919518113136292,
        -0.15642836689949036,
        0.10489429533481598,
        0.9301776885986328,
        0.08327773958444595,
        0.357539564371109,
        0.1928924024105072,
        -0.9395239353179932,
        -0.2829974889755249
      ],
      "bottle_position_world": [
        0.16853640973567963,
        -0.13586735725402832,
        0.8408891558647156
      ],
      "bottle_quaternion_world": [
        0.9919358491897583,
        0.04928914085030556,
        -0.11603119969367981,
        -0.01306094042956829
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.0,
      "clearance_m": -0.00014168024063110352,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1532050222158432,
      "action": [
        -0.09515301883220673,
        0.03761080652475357,
        -0.004436280578374863,
        -0.34038466215133667,
        -0.39714449644088745,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7011308670043945,
        -1.1341369152069092,
        1.4698947668075562,
        -2.0057477951049805,
        -1.1067694425582886,
        -2.2661609649658203,
        0.9968506693840027,
        0.6916124820709229,
        -0.15629559755325317,
        0.10489661246538162,
        0.9275670647621155,
        0.0950702428817749,
        0.36136022210121155,
        0.20467732846736908,
        -0.9383721947669983,
        -0.2785051167011261
      ],
      "bottle_position_world": [
        0.1683601588010788,
        -0.13615256547927856,
        0.8409159779548645
      ],
      "bottle_quaternion_world": [
        0.9916093349456787,
        0.05204562097787857,
        -0.11760643869638443,
        -0.013079850003123283
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.05,
      "clearance_m": -0.00014352798461914062,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15309034287929535,
      "action": [
        -0.0962909460067749,
        0.03547919541597366,
        -0.006012387573719025,
        -0.33971840143203735,
        -0.40233269333839417,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.701362371444702,
        -1.1350889205932617,
        1.4714645147323608,
        -2.006507158279419,
        -1.1064623594284058,
        -2.279139280319214,
        0.996858537197113,
        0.6912641525268555,
        -0.15616922080516815,
        0.1048939973115921,
        0.9247511625289917,
        0.10698743164539337,
        0.3652248978614807,
        0.21658694744110107,
        -0.9370525479316711,
        -0.2739030420780182
      ],
      "bottle_position_world": [
        0.1681864708662033,
        -0.13644710183143616,
        0.8409408330917358
      ],
      "bottle_quaternion_world": [
        0.9912706613540649,
        0.05488713085651398,
        -0.11915607750415802,
        -0.013106903061270714
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.1,
      "clearance_m": -0.00014650821685791016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15298274159431458,
      "action": [
        -0.09569345414638519,
        0.03428206592798233,
        -0.007080446928739548,
        -0.33919602632522583,
        -0.4136417508125305,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7016146183013916,
        -1.136024832725525,
        1.4730665683746338,
        -2.007387399673462,
        -1.1060961484909058,
        -2.291506767272949,
        0.9968664050102234,
        0.6909344792366028,
        -0.1560533195734024,
        0.1048865094780922,
        0.921889066696167,
        0.118296779692173,
        0.3689531683921814,
        0.22790582478046417,
        -0.9356544017791748,
        -0.26946237683296204
      ],
      "bottle_position_world": [
        0.16802293062210083,
        -0.13673336803913116,
        0.8409624099731445
      ],
      "bottle_quaternion_world": [
        0.9909377694129944,
        0.057646315544843674,
        -0.12061063200235367,
        -0.013133715838193893
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.15,
      "clearance_m": -0.00014603137969970703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1528676152229309,
      "action": [
        -0.10107971727848053,
        0.040760718286037445,
        -0.005196116864681244,
        -0.3417919874191284,
        -0.39901483058929443,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7018182277679443,
        -1.1369894742965698,
        1.474626898765564,
        -2.0081043243408203,
        -1.1058290004730225,
        -2.304116725921631,
        0.9968737959861755,
        0.6905795335769653,
        -0.15591225028038025,
        0.10488618910312653,
        0.918874204158783,
        0.12986335158348083,
        0.3725666403770447,
        0.23941181600093842,
        -0.9340881109237671,
        -0.26488012075424194
      ],
      "bottle_position_world": [
        0.1678449660539627,
        -0.13703082501888275,
        0.8409878611564636
      ],
      "bottle_quaternion_world": [
        0.990571916103363,
        0.06051057577133179,
        -0.1221991777420044,
        -0.013160696253180504
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.200000000000001,
      "clearance_m": -0.0001474618911743164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15275481343269348,
      "action": [
        -0.10473364591598511,
        0.03851211816072464,
        -0.007384635508060455,
        -0.3422015309333801,
        -0.39582955837249756,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7020368576049805,
        -1.137972116470337,
        1.476211667060852,
        -2.0087921619415283,
        -1.1055777072906494,
        -2.3169398307800293,
        0.996881365776062,
        0.6902063488960266,
        -0.15577591955661774,
        0.1048804521560669,
        0.915678858757019,
        0.14159055054187775,
        0.3761443793773651,
        0.25104770064353943,
        -0.9323515892028809,
        -0.26018455624580383
      ],
      "bottle_position_world": [
        0.1676708459854126,
        -0.13733795285224915,
        0.8410099148750305
      ],
      "bottle_quaternion_world": [
        0.9901939034461975,
        0.06346248090267181,
        -0.12375082075595856,
        -0.01320565864443779
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.25,
      "clearance_m": -0.00014954805374145508,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15264137089252472,
      "action": [
        -0.10584695637226105,
        0.03623002767562866,
        -0.008949507027864456,
        -0.3416987657546997,
        -0.40097126364707947,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7022883892059326,
        -1.1389856338500977,
        1.4778789281845093,
        -2.0095643997192383,
        -1.1052823066711426,
        -2.3299484252929688,
        0.996889591217041,
        0.6898241639137268,
        -0.15564677119255066,
        0.10487018525600433,
        0.9122722744941711,
        0.15343330800533295,
        0.3797597289085388,
        0.26279646158218384,
        -0.930441677570343,
        -0.2553752362728119
      ],
      "bottle_position_world": [
        0.16749531030654907,
        -0.13765648007392883,
        0.8410305976867676
      ],
      "bottle_quaternion_world": [
        0.989795982837677,
        0.06652020663022995,
        -0.12531305849552155,
        -0.013255983591079712
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.3,
      "clearance_m": -0.00015228986740112305,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15253502130508423,
      "action": [
        -0.10528311133384705,
        0.03516503423452377,
        -0.010397728532552719,
        -0.3412569761276245,
        -0.41227272152900696,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.702558994293213,
        -1.1399788856506348,
        1.4795764684677124,
        -2.0104596614837646,
        -1.104927897453308,
        -2.3423452377319336,
        0.9968982934951782,
        0.6894617080688477,
        -0.15552744269371033,
        0.10485336184501648,
        0.9088494777679443,
        0.16466647386550903,
        0.38324642181396484,
        0.27395445108413696,
        -0.9284833073616028,
        -0.25073495507240295
      ],
      "bottle_position_world": [
        0.16733062267303467,
        -0.13796575367450714,
        0.8410483002662659
      ],
      "bottle_quaternion_world": [
        0.9894052743911743,
        0.06948541104793549,
        -0.12677526473999023,
        -0.01330934464931488
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.35,
      "clearance_m": -0.0001507401466369629,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15242122113704681,
      "action": [
        -0.11061546206474304,
        0.04170604795217514,
        -0.008209340274333954,
        -0.3439241051673889,
        -0.3976844847202301,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7027807235717773,
        -1.1410034894943237,
        1.4812339544296265,
        -2.0111918449401855,
        -1.1046737432479858,
        -2.354982376098633,
        0.9969039559364319,
        0.6890735030174255,
        -0.15538260340690613,
        0.10484453290700912,
        0.9052651524543762,
        0.17614640295505524,
        0.3866105377674103,
        0.285289466381073,
        -0.9263446927070618,
        -0.24595907330513
      ],
      "bottle_position_world": [
        0.16715124249458313,
        -0.13828657567501068,
        0.8410699367523193
      ],
      "bottle_quaternion_world": [
        0.9889776110649109,
        0.07255932688713074,
        -0.12837427854537964,
        -0.013364031910896301
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.4,
      "clearance_m": -0.00015097856521606445,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15230897068977356,
      "action": [
        -0.11430610716342926,
        0.03946474939584732,
        -0.010617930442094803,
        -0.344468891620636,
        -0.39444243907928467,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.703016757965088,
        -1.1420462131500244,
        1.482918381690979,
        -2.0118978023529053,
        -1.1044378280639648,
        -2.367832660675049,
        0.9969096779823303,
        0.6886663436889648,
        -0.15524256229400635,
        0.10482901334762573,
        0.9014943838119507,
        0.18777969479560852,
        0.38993144035339355,
        0.29674533009529114,
        -0.9240279197692871,
        -0.24106959998607635
      ],
      "bottle_position_world": [
        0.16697289049625397,
        -0.13861924409866333,
        0.8410882949829102
      ],
      "bottle_quaternion_world": [
        0.9885304570198059,
        0.07574038207530975,
        -0.129962757229805,
        -0.013439792208373547
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.450000000000001,
      "clearance_m": -0.00015234947204589844,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15219824016094208,
      "action": [
        -0.11565859615802765,
        0.037408433854579926,
        -0.01255619153380394,
        -0.3439028263092041,
        -0.39968085289001465,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7032861709594727,
        -1.1431218385696411,
        1.4846938848495483,
        -2.0126922130584717,
        -1.1041569709777832,
        -2.3808696269989014,
        0.996915876865387,
        0.6882485151290894,
        -0.15510836243629456,
        0.10480678081512451,
        0.8975075483322144,
        0.19952014088630676,
        0.3932839035987854,
        0.3083042502403259,
        -0.9215320348739624,
        -0.23606668412685394
      ],
      "bottle_position_world": [
        0.16679716110229492,
        -0.13896237313747406,
        0.8411040306091309
      ],
      "bottle_quaternion_world": [
        0.9880658984184265,
        0.07901756465435028,
        -0.13152509927749634,
        -0.013531732372939587
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.5,
      "clearance_m": -0.00015485286712646484,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1520950347185135,
      "action": [
        -0.11532865464687347,
        0.036253832280635834,
        -0.01381351426243782,
        -0.3434315323829651,
        -0.4110864996910095,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.703575372695923,
        -1.1441760063171387,
        1.4864963293075562,
        -2.0136091709136963,
        -1.1038153171539307,
        -2.393293619155884,
        0.9969227313995361,
        0.6878514289855957,
        -0.1549845039844513,
        0.1047789677977562,
        0.8935334086418152,
        0.21064725518226624,
        0.39651745557785034,
        0.31927135586738586,
        -0.9190178513526917,
        -0.23124080896377563
      ],
      "bottle_position_world": [
        0.16663150489330292,
        -0.1392960548400879,
        0.8411162495613098
      ],
      "bottle_quaternion_world": [
        0.9876079559326172,
        0.08220040053129196,
        -0.1329958736896515,
        -0.013627289794385433
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.55,
      "clearance_m": -0.00015211105346679688,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15198427438735962,
      "action": [
        -0.12060405313968658,
        0.042780570685863495,
        -0.011342566460371017,
        -0.3463141918182373,
        -0.39627641439437866,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.703814744949341,
        -1.1452627182006836,
        1.4882566928863525,
        -2.014357328414917,
        -1.103578805923462,
        -2.4059579372406006,
        0.9969253540039062,
        0.6874273419380188,
        -0.15483532845973969,
        0.1047593504190445,
        0.8893912434577942,
        0.22201324999332428,
        0.39961692690849304,
        0.3304063677787781,
        -0.9163118004798889,
        -0.22628489136695862
      ],
      "bottle_position_world": [
        0.16645067930221558,
        -0.1396416872739792,
        0.841132640838623
      ],
      "bottle_quaternion_world": [
        0.9871084094047546,
        0.08549440652132034,
        -0.13460765779018402,
        -0.013727158308029175
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.6,
      "clearance_m": -0.00015151500701904297,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15187585353851318,
      "action": [
        -0.12426818907260895,
        0.04053855687379837,
        -0.01394009217619896,
        -0.34708261489868164,
        -0.3929750919342041,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7040672302246094,
        -1.1463680267333984,
        1.4900470972061157,
        -2.0150821208953857,
        -1.1033633947372437,
        -2.4188339710235596,
        0.996928870677948,
        0.6869842410087585,
        -0.15469057857990265,
        0.10473190248012543,
        0.8850576877593994,
        0.23352432250976562,
        0.4026658236980438,
        0.34165242314338684,
        -0.9134206771850586,
        -0.2212160974740982
      ],
      "bottle_position_world": [
        0.1662706881761551,
        -0.13999977707862854,
        0.8411450386047363
      ],
      "bottle_quaternion_world": [
        0.9865855574607849,
        0.08890168368816376,
        -0.13621114194393158,
        -0.013851786963641644
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.65,
      "clearance_m": -0.0001518726348876953,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15176928043365479,
      "action": [
        -0.12574563920497894,
        0.03850964456796646,
        -0.015999507158994675,
        -0.34662187099456787,
        -0.39826512336730957,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7043538093566895,
        -1.1475082635879517,
        1.4919333457946777,
        -2.015899658203125,
        -1.1031041145324707,
        -2.431896686553955,
        0.9969320893287659,
        0.6865292191505432,
        -0.15455155074596405,
        0.10469689220190048,
        0.8805028796195984,
        0.24513337016105652,
        0.40573975443840027,
        0.35298988223075867,
        -0.9103454947471619,
        -0.21603158116340637
      ],
      "bottle_position_world": [
        0.16609299182891846,
        -0.14036908745765686,
        0.8411544561386108
      ],
      "bottle_quaternion_world": [
        0.9860413074493408,
        0.09241144359111786,
        -0.13779239356517792,
        -0.01399859320372343
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.700000000000001,
      "clearance_m": -0.00015354156494140625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15167060494422913,
      "action": [
        -0.1255938559770584,
        0.03741595894098282,
        -0.017456714063882828,
        -0.34620916843414307,
        -0.4096975326538086,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7046589851379395,
        -1.1486246585845947,
        1.4938443899154663,
        -2.016841173171997,
        -1.1027840375900269,
        -2.444345474243164,
        0.9969354867935181,
        0.6860959529876709,
        -0.15442270040512085,
        0.10465601831674576,
        0.8759902119636536,
        0.25612956285476685,
        0.40870392322540283,
        0.36373773217201233,
        -0.9072824120521545,
        -0.21103017032146454
      ],
      "bottle_position_world": [
        0.16592524945735931,
        -0.1407284438610077,
        0.8411601185798645
      ],
      "bottle_quaternion_world": [
        0.9855039715766907,
        0.09582284092903137,
        -0.13928306102752686,
        -0.014152429066598415
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.75,
      "clearance_m": -0.0001493692398071289,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1515646129846573,
      "action": [
        -0.13080033659934998,
        0.044091664254665375,
        -0.014878030866384506,
        -0.34915703535079956,
        -0.39489877223968506,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.704914093017578,
        -1.1497746706008911,
        1.4957160949707031,
        -2.01761531829834,
        -1.10257089138031,
        -2.457033395767212,
        0.9969342947006226,
        0.6856352090835571,
        -0.15426857769489288,
        0.1046227365732193,
        0.8713023662567139,
        0.2673543393611908,
        0.41152632236480713,
        0.37464389204978943,
        -0.9040160775184631,
        -0.2059054672718048
      ],
      "bottle_position_world": [
        0.16574138402938843,
        -0.14110051095485687,
        0.8411697149276733
      ],
      "bottle_quaternion_world": [
        0.9849187135696411,
        0.09935124963521957,
        -0.14092393219470978,
        -0.014316779561340809
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.8,
      "clearance_m": -0.00014656782150268555,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15146060287952423,
      "action": [
        -0.1346604824066162,
        0.04198943078517914,
        -0.017546188086271286,
        -0.35008835792541504,
        -0.3916090130805969,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.70518159866333,
        -1.150946021080017,
        1.4976238012313843,
        -2.0183677673339844,
        -1.1023814678192139,
        -2.4699318408966064,
        0.9969314932823181,
        0.6851534843444824,
        -0.1541174352169037,
        0.10457997024059296,
        0.8664197325706482,
        0.2787145674228668,
        0.4142889976501465,
        0.3856501877307892,
        -0.9005581736564636,
        -0.20067211985588074
      ],
      "bottle_position_world": [
        0.16555719077587128,
        -0.14148657023906708,
        0.8411754965782166
      ],
      "bottle_quaternion_world": [
        0.9843035340309143,
        0.10300543159246445,
        -0.14256861805915833,
        -0.014516833238303661
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.85,
      "clearance_m": -0.0001443028450012207,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15135835111141205,
      "action": [
        -0.13636772334575653,
        0.040073759853839874,
        -0.019653450697660446,
        -0.3497139811515808,
        -0.39698225259780884,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7054836750030518,
        -1.1521542072296143,
        1.499633550643921,
        -2.0192155838012695,
        -1.1021497249603271,
        -2.4830167293548584,
        0.9969272017478943,
        0.6846578121185303,
        -0.15397191047668457,
        0.10452791303396225,
        0.8613128066062927,
        0.2901630699634552,
        0.4170682728290558,
        0.3967354893684387,
        -0.8969115614891052,
        -0.1953224092721939
      ],
      "bottle_position_world": [
        0.1653735488653183,
        -0.14188586175441742,
        0.8411780595779419
      ],
      "bottle_quaternion_world": [
        0.9836589097976685,
        0.1067781150341034,
        -0.14420780539512634,
        -0.014753134921193123
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.9,
      "clearance_m": -0.00014317035675048828,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15126332640647888,
      "action": [
        -0.13658060133457184,
        0.03918900340795517,
        -0.021267835050821304,
        -0.3493174910545349,
        -0.4084601402282715,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7058041095733643,
        -1.1533374786376953,
        1.5016690492630005,
        -2.0201897621154785,
        -1.1018562316894531,
        -2.4954864978790283,
        0.9969210624694824,
        0.6841846108436584,
        -0.15383632481098175,
        0.1044694185256958,
        0.8562775254249573,
        0.3009989559650421,
        0.4197480082511902,
        0.407233864068985,
        -0.8933075666427612,
        -0.19016316533088684
      ],
      "bottle_position_world": [
        0.165197491645813,
        -0.14227651059627533,
        0.8411770462989807
      ],
      "bottle_quaternion_world": [
        0.9830161333084106,
        0.11046500504016876,
        -0.14577944576740265,
        -0.015001678839325905
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 8.950000000000001,
      "clearance_m": -0.00013381242752075195,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15115892887115479,
      "action": [
        -0.14213748276233673,
        0.04627960920333862,
        -0.018727753311395645,
        -0.3522486686706543,
        -0.39358216524124146,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.706073045730591,
        -1.1545575857162476,
        1.5036741495132446,
        -2.0209977626800537,
        -1.1016724109649658,
        -2.5081942081451416,
        0.9969062805175781,
        0.683681070804596,
        -0.15367308259010315,
        0.10441607981920242,
        0.8510621190071106,
        0.312053382396698,
        0.4222749173641205,
        0.41788139939308167,
        -0.8894889950752258,
        -0.1848914623260498
      ],
      "bottle_position_world": [
        0.16500064730644226,
        -0.14268441498279572,
        0.8411810398101807
      ],
      "bottle_quaternion_world": [
        0.9823088645935059,
        0.11430788040161133,
        -0.1475445032119751,
        -0.015282494015991688
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 9.0,
      "clearance_m": -0.00012099742889404297,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15103960037231445,
      "action": [
        -0.1467866450548172,
        0.044643498957157135,
        -0.021681245416402817,
        -0.35298049449920654,
        -0.3903348743915558,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.706355571746826,
        -1.1558034420013428,
        1.505731463432312,
        -2.0217883586883545,
        -1.1015130281448364,
        -2.5211143493652344,
        0.9968792200088501,
        0.6831516623497009,
        -0.15351109206676483,
        0.10434842109680176,
        0.8456497192382812,
        0.3232322633266449,
        0.42473214864730835,
        0.42861804366111755,
        -0.8854711651802063,
        -0.17952010035514832
      ],
      "bottle_position_world": [
        0.16478858888149261,
        -0.14317670464515686,
        0.8411837220191956
      ],
      "bottle_quaternion_world": [
        0.98146653175354,
        0.11893141269683838,
        -0.1494404673576355,
        -0.01570074073970318
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 9.05,
      "clearance_m": -0.00012540817260742188,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15096810460090637,
      "action": [
        -0.15506137907505035,
        0.044492922723293304,
        -0.02444741502404213,
        -0.35188984870910645,
        -0.39649707078933716,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.70668888092041,
        -1.157142996788025,
        1.5079829692840576,
        -2.0227065086364746,
        -1.101298213005066,
        -2.5342371463775635,
        0.996863603591919,
        0.6825843453407288,
        -0.1533479243516922,
        0.10426940023899078,
        0.8400057554244995,
        0.33448663353919983,
        0.42721110582351685,
        0.43942445516586304,
        -0.8812595009803772,
        -0.1740346997976303
      ],
      "bottle_position_world": [
        0.16462987661361694,
        -0.14354676008224487,
        0.8411684036254883
      ],
      "bottle_quaternion_world": [
        0.9808173179626465,
        0.12240275740623474,
        -0.15085861086845398,
        -0.016022589057683945
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 9.1,
      "clearance_m": -0.00011742115020751953,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1508263647556305,
      "action": [
        -0.15100188553333282,
        0.041587136685848236,
        -0.024988453835248947,
        -0.351093590259552,
        -0.4067976176738739,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7070350646972656,
        -1.1584117412567139,
        1.5101776123046875,
        -2.0237038135528564,
        -1.1010252237319946,
        -2.5467441082000732,
        0.9968410134315491,
        0.6820568442344666,
        -0.15320244431495667,
        0.10418801009654999,
        0.834465742111206,
        0.34513401985168457,
        0.42959219217300415,
        0.4496508836746216,
        -0.8771183490753174,
        -0.168752983212471
      ],
      "bottle_position_world": [
        0.16429145634174347,
        -0.1442195624113083,
        0.8411496877670288
      ],
      "bottle_quaternion_world": [
        0.9795258641242981,
        0.12871883809566498,
        -0.1539015769958496,
        -0.016581548377871513
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 9.15,
      "clearance_m": -0.0001138448715209961,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1506853848695755,
      "action": [
        -0.17610551416873932,
        0.06040416657924652,
        -0.02523745968937874,
        -0.353213369846344,
        -0.3960033655166626,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.707345724105835,
        -1.1599018573760986,
        1.51265549659729,
        -2.024690628051758,
        -1.100829839706421,
        -2.559490442276001,
        0.9968183636665344,
        0.6814301013946533,
        -0.1529887318611145,
        0.10410197824239731,
        0.8287258744239807,
        0.35597357153892517,
        0.4318523406982422,
        0.4600135087966919,
        -0.8727549910545349,
        -0.16335998475551605
      ],
      "bottle_position_world": [
        0.16389374434947968,
        -0.14498591423034668,
        0.8411106467247009
      ],
      "bottle_quaternion_world": [
        0.9779748320579529,
        0.13590560853481293,
        -0.157475546002388,
        -0.017213471233844757
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 9.200000000000001,
      "clearance_m": -0.00011289119720458984,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15052777528762817,
      "action": [
        -0.21004171669483185,
        0.07672486454248428,
        -0.032937582582235336,
        -0.34802961349487305,
        -0.3996429145336151,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7077112197875977,
        -1.1617027521133423,
        1.5156739950180054,
        -2.0258872509002686,
        -1.1005561351776123,
        -2.572479009628296,
        0.9968022108078003,
        0.680671751499176,
        -0.1527104526758194,
        0.10399127751588821,
        0.8227494955062866,
        0.36689648032188416,
        0.4341316819190979,
        0.4704652428627014,
        -0.8681789040565491,
        -0.15788593888282776
      ],
      "bottle_position_world": [
        0.16324323415756226,
        -0.1459614336490631,
        0.8410305976867676
      ],
      "bottle_quaternion_world": [
        0.9756789207458496,
        0.1450762301683426,
        -0.16335761547088623,
        -0.017829397693276405
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 9.25,
      "clearance_m": -0.00011026859283447266,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1503501832485199,
      "action": [
        -0.25657516717910767,
        0.11013854295015335,
        -0.04837111756205559,
        -0.333523690700531,
        -0.4157726466655731,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7081570625305176,
        -1.1639691591262817,
        1.5196174383163452,
        -2.0275754928588867,
        -1.1000359058380127,
        -2.5856893062591553,
        0.9967908263206482,
        0.6797311902046204,
        -0.15230469405651093,
        0.10382366180419922,
        0.8164861798286438,
        0.3778238892555237,
        0.4365769326686859,
        0.4809968173503876,
        -0.8633800148963928,
        -0.15237116813659668
      ],
      "bottle_position_world": [
        0.16201913356781006,
        -0.14742764830589294,
        0.8408432006835938
      ],
      "bottle_quaternion_world": [
        0.9715827703475952,
        0.15889766812324524,
        -0.17446964979171753,
        -0.018411679193377495
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 9.3,
      "clearance_m": -0.0001010894775390625,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15027134120464325,
      "action": [
        -0.34188711643218994,
        0.18635129928588867,
        -0.07680140435695648,
        -0.30420780181884766,
        -0.44947028160095215,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7086617946624756,
        -1.1669158935546875,
        1.5249838829040527,
        -2.030099391937256,
        -1.0990849733352661,
        -2.598282814025879,
        0.996784508228302,
        0.6785421371459961,
        -0.1516578495502472,
        0.1035609096288681,
        0.8102614879608154,
        0.38800984621047974,
        0.43923211097717285,
        0.4909776747226715,
        -0.8586453199386597,
        -0.14720579981803894
      ],
      "bottle_position_world": [
        0.15970055758953094,
        -0.14985433220863342,
        0.8403453230857849
      ],
      "bottle_quaternion_world": [
        0.9635033011436462,
        0.18183138966560364,
        -0.19555287063121796,
        -0.018920429050922394
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 9.35,
      "clearance_m": -7.104873657226562e-05,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15087328851222992,
      "action": [
        -0.511750340461731,
        0.364986389875412,
        -0.1268649846315384,
        -0.2466418296098709,
        -0.48441147804260254,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7091290950775146,
        -1.171530842781067,
        1.5335148572921753,
        -2.034144639968872,
        -1.097389817237854,
        -2.610999822616577,
        0.9967906475067139,
        0.6767277717590332,
        -0.15036162734031677,
        0.1031208261847496,
        0.8036218881607056,
        0.3980617821216583,
        0.4424237906932831,
        0.5011329650878906,
        -0.8535980582237244,
        -0.14225439727306366
      ],
      "bottle_position_world": [
        0.15542176365852356,
        -0.15403537452220917,
        0.8389100432395935
      ],
      "bottle_quaternion_world": [
        0.9463053941726685,
        0.22156047821044922,
        -0.23461894690990448,
        -0.01925988495349884
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 9.4,
      "clearance_m": -1.8537044525146484e-05,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.15434914827346802,
      "action": [
        -0.8284986019134521,
        0.6998364925384521,
        -0.24270881712436676,
        -0.12180735170841217,
        -0.5805887579917908,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.709686756134033,
        -1.1785188913345337,
        1.546995759010315,
        -2.0409045219421387,
        -1.0940032005310059,
        -2.6235857009887695,
        0.996821939945221,
        0.6740379929542542,
        -0.1480739414691925,
        0.10235095024108887,
        0.7964311242103577,
        0.40740105509757996,
        0.44690290093421936,
        0.5113052129745483,
        -0.8482599854469299,
        -0.13792142271995544
      ],
      "bottle_position_world": [
        0.14793242514133453,
        -0.1611289083957672,
        0.8345791697502136
      ],
      "bottle_quaternion_world": [
        0.9069835543632507,
        0.2904450297355652,
        -0.30439263582229614,
        -0.01917402446269989
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 9.450000000000001,
      "clearance_m": -5.424022674560547e-06,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.16702182590961456,
      "action": [
        -1.0,
        1.0,
        -0.4601144790649414,
        0.12726227939128876,
        -0.778084397315979,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.710946798324585,
        -1.1849595308303833,
        1.561657190322876,
        -2.0494003295898438,
        -1.0876283645629883,
        -2.635676860809326,
        0.9968540072441101,
        0.6715681552886963,
        -0.14557956159114838,
        0.10123966634273529,
        0.7888004779815674,
        0.4148005247116089,
        0.4535794258117676,
        0.5208688974380493,
        -0.8428961038589478,
        -0.13498851656913757
      ],
      "bottle_position_world": [
        0.13654352724552155,
        -0.17178641259670258,
        0.8219437003135681
      ],
      "bottle_quaternion_world": [
        0.812641978263855,
        0.4035005271434784,
        -0.4200901985168457,
        -0.018017373979091644
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0018252780428156257
    },
    {
      "t_s": 9.5,
      "clearance_m": -0.0028592348098754883,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18441417813301086,
      "action": [
        -1.0,
        1.0,
        -0.8365329504013062,
        0.42905282974243164,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7131543159484863,
        -1.1897869110107422,
        1.5763309001922607,
        -2.0592293739318848,
        -1.0792663097381592,
        -2.6466150283813477,
        0.9968385696411133,
        0.6694585084915161,
        -0.14344939589500427,
        0.09951315820217133,
        0.7815767526626587,
        0.4197210371494293,
        0.46148958802223206,
        0.528918445110321,
        -0.8381030559539795,
        -0.13352596759796143
      ],
      "bottle_position_world": [
        0.12850582599639893,
        -0.17932991683483124,
        0.8053544163703918
      ],
      "bottle_quaternion_world": [
        0.6880926489830017,
        0.5037539601325989,
        -0.5220057368278503,
        -0.016445694491267204
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 9.55,
      "clearance_m": -0.0007398128509521484,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18297401070594788,
      "action": [
        -1.0,
        1.0,
        -1.0,
        0.6323460340499878,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7159082889556885,
        -1.1935776472091675,
        1.5905876159667969,
        -2.068222761154175,
        -1.0696660280227661,
        -2.657803535461426,
        0.9968435764312744,
        0.6673741340637207,
        -0.1413816511631012,
        0.09741522371768951,
        0.7745333313941956,
        0.4235730767250061,
        0.4697705805301666,
        0.536658763885498,
        -0.8331573605537415,
        -0.1335909366607666
      ],
      "bottle_position_world": [
        0.129347562789917,
        -0.17865823209285736,
        0.8066886067390442
      ],
      "bottle_quaternion_world": [
        0.7093989253044128,
        0.49030429124832153,
        -0.5059791803359985,
        -0.018440023064613342
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 9.600000000000001,
      "clearance_m": -0.00018465518951416016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18282237648963928,
      "action": [
        -1.0,
        1.0,
        -1.0,
        0.6875316500663757,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7188189029693604,
        -1.1971278190612793,
        1.6047250032424927,
        -2.0768344402313232,
        -1.0596801042556763,
        -2.669184446334839,
        0.9968463182449341,
        0.6652559638023376,
        -0.1392914354801178,
        0.09526389092206955,
        0.7674189805984497,
        0.4270862936973572,
        0.4781895875930786,
        0.5443412065505981,
        -0.8280947208404541,
        -0.1339842528104782
      ],
      "bottle_position_world": [
        0.12930527329444885,
        -0.17880722880363464,
        0.8068514466285706
      ],
      "bottle_quaternion_world": [
        0.7068483829498291,
        0.49317485094070435,
        -0.5067018270492554,
        -0.019932882860302925
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 9.65,
      "clearance_m": -0.0002002716064453125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18282420933246613,
      "action": [
        -1.0,
        1.0,
        -1.0,
        0.6682489514350891,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7217459678649902,
        -1.200586199760437,
        1.6189167499542236,
        -2.0854694843292236,
        -1.0496448278427124,
        -2.6808390617370605,
        0.9968493580818176,
        0.663105845451355,
        -0.13717176020145416,
        0.09307634830474854,
        0.7600786089897156,
        0.4306296408176422,
        0.4866611361503601,
        0.5521289706230164,
        -0.8228911757469177,
        -0.13417980074882507
      ],
      "bottle_position_world": [
        0.1293664574623108,
        -0.17887204885482788,
        0.8068460822105408
      ],
      "bottle_quaternion_world": [
        0.7068337798118591,
        0.4943752586841583,
        -0.5054805874824524,
        -0.021645501255989075
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 9.700000000000001,
      "clearance_m": -0.0001875162124633789,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1828179508447647,
      "action": [
        -1.0,
        1.0,
        -0.9809417128562927,
        0.624542772769928,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7244582176208496,
        -1.2038860321044922,
        1.6323599815368652,
        -2.0937278270721436,
        -1.0402624607086182,
        -2.6921603679656982,
        0.996853768825531,
        0.661055862903595,
        -0.13513991236686707,
        0.09104759246110916,
        0.7528271079063416,
        0.43420371413230896,
        0.49469059705734253,
        0.5596776604652405,
        -0.8178215622901917,
        -0.13390058279037476
      ],
      "bottle_position_world": [
        0.12943075597286224,
        -0.17894598841667175,
        0.80684894323349
      ],
      "bottle_quaternion_world": [
        0.7067329287528992,
        0.4957466125488281,
        -0.5041928887367249,
        -0.023524221032857895
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 9.75,
      "clearance_m": -0.00019794702529907227,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18281614780426025,
      "action": [
        -1.0,
        1.0,
        -0.9375015497207642,
        0.5839958786964417,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7271456718444824,
        -1.2072890996932983,
        1.646036148071289,
        -2.102078676223755,
        -1.0308951139450073,
        -2.7037155628204346,
        0.9968554973602295,
        0.6589272618293762,
        -0.13303592801094055,
        0.08901669085025787,
        0.7453403472900391,
        0.43785735964775085,
        0.5027412176132202,
        0.5673287510871887,
        -0.8126230239868164,
        -0.13334909081459045
      ],
      "bottle_position_world": [
        0.1295040100812912,
        -0.17902453243732452,
        0.8068466782569885
      ],
      "bottle_quaternion_world": [
        0.7066888213157654,
        0.4971964657306671,
        -0.5027245283126831,
        -0.02558709681034088
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 9.8,
      "clearance_m": -0.00018918514251708984,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18280892074108124,
      "action": [
        -1.0,
        1.0,
        -0.8697740435600281,
        0.5208356380462646,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7297353744506836,
        -1.2109408378601074,
        1.6599373817443848,
        -2.1105592250823975,
        -1.0217034816741943,
        -2.71563720703125,
        0.9968571662902832,
        0.6567193269729614,
        -0.13085076212882996,
        0.08705904334783554,
        0.7374767065048218,
        0.44185805320739746,
        0.5107736587524414,
        0.5752291083335876,
        -0.8072357773780823,
        -0.13221998512744904
      ],
      "bottle_position_world": [
        0.12958011031150818,
        -0.1791117936372757,
        0.806850016117096
      ],
      "bottle_quaternion_world": [
        0.7065566182136536,
        0.49880874156951904,
        -0.5011930465698242,
        -0.027806708589196205
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 9.850000000000001,
      "clearance_m": -0.00018411874771118164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18280260264873505,
      "action": [
        -1.0,
        1.0,
        -0.8081828951835632,
        0.4462605118751526,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7321889400482178,
        -1.214861512184143,
        1.6740642786026,
        -2.1192433834075928,
        -1.0127894878387451,
        -2.727809429168701,
        0.9968594312667847,
        0.6544376015663147,
        -0.12858885526657104,
        0.08517781645059586,
        0.7292705774307251,
        0.4462040364742279,
        0.5187164545059204,
        0.5833086371421814,
        -0.8017076849937439,
        -0.13044634461402893
      ],
      "bottle_position_world": [
        0.12966521084308624,
        -0.17920330166816711,
        0.8068518042564392
      ],
      "bottle_quaternion_world": [
        0.7064843773841858,
        0.5004884004592896,
        -0.49947863817214966,
        -0.03020554594695568
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 9.9,
      "clearance_m": -0.00019419193267822266,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18280014395713806,
      "action": [
        -1.0,
        1.0,
        -0.7466668486595154,
        0.36814504861831665,
        -1.0,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7343497276306152,
        -1.218845009803772,
        1.6875375509262085,
        -2.1276402473449707,
        -1.0047115087509155,
        -2.739473819732666,
        0.9968628287315369,
        0.6522349715232849,
        -0.1263962835073471,
        0.08351202309131622,
        0.7211986184120178,
        0.4506690800189972,
        0.5260893106460571,
        0.5910762548446655,
        -0.7963830828666687,
        -0.1280737668275833
      ],
      "bottle_position_world": [
        0.12975730001926422,
        -0.17930209636688232,
        0.8068494200706482
      ],
      "bottle_quaternion_world": [
        0.7063983678817749,
        0.5022960305213928,
        -0.4976188540458679,
        -0.03279746696352959
      ],
      "bilateral": false,
      "ever_bad_contact": false,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 9.950000000000001,
      "clearance_m": -0.00018805265426635742,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18279537558555603,
      "action": [
        -1.0,
        1.0,
        -0.7010715007781982,
        0.30108726024627686,
        -0.9594733119010925,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7363977432250977,
        -1.223028540611267,
        1.7009071111679077,
        -2.1360836029052734,
        -0.9968769550323486,
        -2.7516093254089355,
        0.9972437620162964,
        0.6500418186187744,
        -0.12419107556343079,
        0.0820099487900734,
        0.7126061916351318,
        0.45567724108695984,
        0.5334332585334778,
        0.5991706848144531,
        -0.7908229231834412,
        -0.12487562000751495
      ],
      "bottle_position_world": [
        0.1298515796661377,
        -0.1794106513261795,
        0.8068496584892273
      ],
      "bottle_quaternion_world": [
        0.7061979174613953,
        0.5042827725410461,
        -0.4957011342048645,
        -0.035551320761442184
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.0,
      "clearance_m": -0.00019860267639160156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18279342353343964,
      "action": [
        -1.0,
        1.0,
        -0.5877222418785095,
        0.19759835302829742,
        -0.9639402031898499,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7385780811309814,
        -1.2287522554397583,
        1.7133560180664062,
        -2.14658784866333,
        -0.989299476146698,
        -2.7641079425811768,
        0.9991414546966553,
        0.6484860181808472,
        -0.12258369475603104,
        0.08208517730236053,
        0.7017946243286133,
        0.4622454047203064,
        0.5420457124710083,
        0.6077142953872681,
        -0.785495400428772,
        -0.11696252226829529
      ],
      "bottle_position_world": [
        0.12995676696300507,
        -0.17952090501785278,
        0.8068462014198303
      ],
      "bottle_quaternion_world": [
        0.7061118483543396,
        0.5062814950942993,
        -0.49356332421302795,
        -0.038476500660181046
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.05,
      "clearance_m": -0.0001914501190185547,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18278487026691437,
      "action": [
        -1.0,
        1.0,
        -0.514917254447937,
        0.10739274322986603,
        -0.830636203289032,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7404842376708984,
        -1.2347418069839478,
        1.7250149250030518,
        -2.1558213233947754,
        -0.9825653433799744,
        -2.777284622192383,
        1.000282883644104,
        0.6468750834465027,
        -0.12097416073083878,
        0.0824180394411087,
        0.6906558275222778,
        0.4697358310222626,
        0.5498573780059814,
        0.616643488407135,
        -0.7797409296035767,
        -0.108421191573143
      ],
      "bottle_position_world": [
        0.13006523251533508,
        -0.17964255809783936,
        0.8068497180938721
      ],
      "bottle_quaternion_world": [
        0.7058975696563721,
        0.5084870457649231,
        -0.49134430289268494,
        -0.041597988456487656
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.100000000000001,
      "clearance_m": -0.0001862049102783203,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18277885019779205,
      "action": [
        -1.0,
        1.0,
        -0.5182636976242065,
        0.05570847913622856,
        -0.7011999487876892,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7420461177825928,
        -1.2401264905929565,
        1.7352352142333984,
        -2.163058280944824,
        -0.9769201278686523,
        -2.7903378009796143,
        1.0008732080459595,
        0.6452751159667969,
        -0.11942543089389801,
        0.08265366405248642,
        0.6801825165748596,
        0.4773596525192261,
        0.5563088655471802,
        0.6253359913825989,
        -0.7738503217697144,
        -0.10055164992809296
      ],
      "bottle_position_world": [
        0.13018126785755157,
        -0.179768905043602,
        0.8068503141403198
      ],
      "bottle_quaternion_world": [
        0.7057063579559326,
        0.5107636451721191,
        -0.4889625012874603,
        -0.04488725587725639
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.15,
      "clearance_m": -0.0001920461654663086,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1827733963727951,
      "action": [
        -1.0,
        1.0,
        -0.49642807245254517,
        0.02849787473678589,
        -0.5872920751571655,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.743328094482422,
        -1.2452430725097656,
        1.744857907295227,
        -2.1683499813079834,
        -0.9718838334083557,
        -2.804054021835327,
        1.0011181831359863,
        0.6434705853462219,
        -0.11770158261060715,
        0.08268216997385025,
        0.669977605342865,
        0.4853328466415405,
        0.561767041683197,
        0.6343238353729248,
        -0.7673884630203247,
        -0.09353356808423996
      ],
      "bottle_position_world": [
        0.13030469417572021,
        -0.1799018532037735,
        0.8068500757217407
      ],
      "bottle_quaternion_world": [
        0.705504834651947,
        0.5131460428237915,
        -0.48642048239707947,
        -0.0483655110001564
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.200000000000001,
      "clearance_m": -0.0001856088638305664,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1827649623155594,
      "action": [
        -1.0,
        1.0,
        -0.5062554478645325,
        0.0035927817225456238,
        -0.4679509997367859,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7442877292633057,
        -1.2499403953552246,
        1.7536219358444214,
        -2.171607494354248,
        -0.9675987958908081,
        -2.8183586597442627,
        1.0011215209960938,
        0.6415258646011353,
        -0.11585602909326553,
        0.08249939233064651,
        0.6601167321205139,
        0.49365857243537903,
        0.566169023513794,
        0.6435810327529907,
        -0.760373592376709,
        -0.08738332241773605
      ],
      "bottle_position_world": [
        0.13043421506881714,
        -0.18004605174064636,
        0.8068529963493347
      ],
      "bottle_quaternion_world": [
        0.7052093744277954,
        0.5157222151756287,
        -0.4837339222431183,
        -0.05207592993974686
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.25,
      "clearance_m": -0.00019115209579467773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1827668845653534,
      "action": [
        -1.0,
        1.0,
        -0.5274800062179565,
        -0.014753855764865875,
        -0.3620492219924927,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7448208332061768,
        -1.2539857625961304,
        1.7617073059082031,
        -2.1727211475372314,
        -0.9640833139419556,
        -2.8330986499786377,
        1.0000088214874268,
        0.6393717527389526,
        -0.11377203464508057,
        0.0818699300289154,
        0.6509003639221191,
        0.5021024346351624,
        0.5694050192832947,
        0.653057873249054,
        -0.7527761459350586,
        -0.08272652328014374
      ],
      "bottle_position_world": [
        0.13057105243206024,
        -0.18019625544548035,
        0.8068453073501587
      ],
      "bottle_quaternion_world": [
        0.7049045562744141,
        0.5183889865875244,
        -0.48088496923446655,
        -0.055966418236494064
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.3,
      "clearance_m": -0.00019985437393188477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18276023864746094,
      "action": [
        -1.0,
        1.0,
        -0.5067165493965149,
        -0.048149704933166504,
        -0.26431193947792053,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7447400093078613,
        -1.2571985721588135,
        1.7688745260238647,
        -2.1716737747192383,
        -0.9617046117782593,
        -2.8471555709838867,
        0.9983322024345398,
        0.6370618343353271,
        -0.1114584431052208,
        0.08074171096086502,
        0.6430878639221191,
        0.5100929141044617,
        0.571177065372467,
        0.6621503829956055,
        -0.745075523853302,
        -0.08012088388204575
      ],
      "bottle_position_world": [
        0.13071544468402863,
        -0.18035173416137695,
        0.806846022605896
      ],
      "bottle_quaternion_world": [
        0.7046028971672058,
        0.5211281776428223,
        -0.4778665006160736,
        -0.06003130227327347
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.350000000000001,
      "clearance_m": -0.00018906593322753906,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18274740874767303,
      "action": [
        -0.9314982891082764,
        1.0,
        -0.5294674038887024,
        -0.0855725109577179,
        -0.1335316002368927,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7439067363739014,
        -1.2598059177398682,
        1.774770975112915,
        -2.1688826084136963,
        -0.9606391191482544,
        -2.8611154556274414,
        0.9977424144744873,
        0.6347835063934326,
        -0.10899998247623444,
        0.07943516969680786,
        0.6358221769332886,
        0.5185595750808716,
        0.5716872811317444,
        0.6714137196540833,
        -0.7369363307952881,
        -0.07828478515148163
      ],
      "bottle_position_world": [
        0.1308647096157074,
        -0.18051716685295105,
        0.8068532347679138
      ],
      "bottle_quaternion_world": [
        0.7041980028152466,
        0.5240323543548584,
        -0.47472304105758667,
        -0.06429145485162735
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.4,
      "clearance_m": -0.0001849532127380371,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18274037539958954,
      "action": [
        -0.8588185906410217,
        1.0,
        -0.4725525975227356,
        -0.16370494663715363,
        -0.0555390939116478,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7422122955322266,
        -1.2624605894088745,
        1.7799099683761597,
        -2.1654582023620605,
        -0.9610452055931091,
        -2.874382734298706,
        0.9974983930587769,
        0.6325556039810181,
        -0.10638532042503357,
        0.07820013165473938,
        0.6288982629776001,
        0.5276129841804504,
        0.571061909198761,
        0.6806270480155945,
        -0.7286401987075806,
        -0.07635807991027832
      ],
      "bottle_position_world": [
        0.13102269172668457,
        -0.18069161474704742,
        0.8068545460700989
      ],
      "bottle_quaternion_world": [
        0.703748881816864,
        0.5270736813545227,
        -0.4713801145553589,
        -0.0687878355383873
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.450000000000001,
      "clearance_m": -0.00018203258514404297,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18273323774337769,
      "action": [
        -0.7598901987075806,
        1.0,
        -0.421703040599823,
        -0.2794284224510193,
        0.009320653975009918,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.73940372467041,
        -1.2652491331100464,
        1.7845343351364136,
        -2.162302017211914,
        -0.963215172290802,
        -2.886244297027588,
        0.9973246455192566,
        0.6304463744163513,
        -0.103574238717556,
        0.07702882587909698,
        0.6224086284637451,
        0.5372766852378845,
        0.5691584944725037,
        0.6895642876625061,
        -0.7204338908195496,
        -0.0740012601017952
      ],
      "bottle_position_world": [
        0.1311880499124527,
        -0.18087328970432281,
        0.8068559765815735
      ],
      "bottle_quaternion_world": [
        0.7032608985900879,
        0.5302168130874634,
        -0.46786221861839294,
        -0.07347939908504486
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.5,
      "clearance_m": -0.0001819133758544922,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18272611498832703,
      "action": [
        -0.6574083566665649,
        0.9810938835144043,
        -0.3624213933944702,
        -0.4136109948158264,
        0.052028022706508636,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7357735633850098,
        -1.2681251764297485,
        1.7887191772460938,
        -2.160198450088501,
        -0.9668010473251343,
        -2.8958892822265625,
        0.9972012639045715,
        0.6285799741744995,
        -0.10077016055583954,
        0.0760008692741394,
        0.6166310906410217,
        0.5468749403953552,
        0.5662984251976013,
        0.6976097822189331,
        -0.712938666343689,
        -0.07112789154052734
      ],
      "bottle_position_world": [
        0.1313624382019043,
        -0.18106304109096527,
        0.8068573474884033
      ],
      "bottle_quaternion_world": [
        0.7027391791343689,
        0.5334712266921997,
        -0.46413302421569824,
        -0.07840070873498917
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.55,
      "clearance_m": -0.00019037723541259766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18272636830806732,
      "action": [
        -0.5617961883544922,
        0.809200644493103,
        -0.3194815516471863,
        -0.56324702501297,
        0.09718794375658035,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.731499433517456,
        -1.2714165449142456,
        1.7932976484298706,
        -2.159209966659546,
        -0.9719242453575134,
        -2.9043197631835938,
        0.9971104264259338,
        0.6266485452651978,
        -0.0979306623339653,
        0.07491624355316162,
        0.611225426197052,
        0.5569432973861694,
        0.5623324513435364,
        0.7052428126335144,
        -0.7057368159294128,
        -0.06758812814950943
      ],
      "bottle_position_world": [
        0.13154630362987518,
        -0.18125993013381958,
        0.8068512082099915
      ],
      "bottle_quaternion_world": [
        0.7021985054016113,
        0.5368133187294006,
        -0.4601835012435913,
        -0.08354605734348297
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.600000000000001,
      "clearance_m": -0.0001938343048095703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.182723730802536,
      "action": [
        -0.4468148946762085,
        0.6048088073730469,
        -0.2607184648513794,
        -0.7136898636817932,
        0.0964856818318367,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7273008823394775,
        -1.2742801904678345,
        1.7966874837875366,
        -2.1585190296173096,
        -0.9780969023704529,
        -2.912217140197754,
        0.9970347285270691,
        0.6250316500663757,
        -0.09567626565694809,
        0.07399176061153412,
        0.6059756875038147,
        0.5672901272773743,
        0.5576518774032593,
        0.7124230861663818,
        -0.6989006400108337,
        -0.06317867338657379
      ],
      "bottle_position_world": [
        0.131734237074852,
        -0.1814669966697693,
        0.8068485856056213
      ],
      "bottle_quaternion_world": [
        0.7015197277069092,
        0.5403106808662415,
        -0.45611003041267395,
        -0.0888720154762268
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.65,
      "clearance_m": -0.0001863241195678711,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18271082639694214,
      "action": [
        -0.3505673408508301,
        0.41640952229499817,
        -0.18842549622058868,
        -0.8504632115364075,
        0.07458905130624771,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7234339714050293,
        -1.2767255306243896,
        1.7987395524978638,
        -2.1578192710876465,
        -0.9849660396575928,
        -2.9198997020721436,
        0.9969723224639893,
        0.6237508654594421,
        -0.09409244358539581,
        0.0733262300491333,
        0.6007577180862427,
        0.5777786374092102,
        0.552505373954773,
        0.7191930413246155,
        -0.6923903226852417,
        -0.05794057995080948
      ],
      "bottle_position_world": [
        0.13193227350711823,
        -0.18168234825134277,
        0.8068562746047974
      ],
      "bottle_quaternion_world": [
        0.7008024454116821,
        0.5439094305038452,
        -0.4517950713634491,
        -0.09444475919008255
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.700000000000001,
      "clearance_m": -0.00019115209579467773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1827099323272705,
      "action": [
        -0.27217817306518555,
        0.2653261721134186,
        -0.13318797945976257,
        -0.9626660943031311,
        0.03611210733652115,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.720133066177368,
        -1.2786979675292969,
        1.7997983694076538,
        -2.1573269367218018,
        -0.9918033480644226,
        -2.9270575046539307,
        0.9969241619110107,
        0.6227979063987732,
        -0.09312242269515991,
        0.07287321239709854,
        0.5957876443862915,
        0.5876873135566711,
        0.547413170337677,
        0.7252572774887085,
        -0.6864845752716064,
        -0.05235730856657028
      ],
      "bottle_position_world": [
        0.1321382373571396,
        -0.18190738558769226,
        0.8068522810935974
      ],
      "bottle_quaternion_world": [
        0.699992835521698,
        0.5476362705230713,
        -0.44727542996406555,
        -0.10024645179510117
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.75,
      "clearance_m": -0.00018543004989624023,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18270312249660492,
      "action": [
        -0.22597728669643402,
        0.15570467710494995,
        -0.09960795938968658,
        -1.0,
        0.022924520075321198,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.717125415802002,
        -1.2803739309310913,
        1.8000694513320923,
        -2.156491756439209,
        -0.9988511204719543,
        -2.9345591068267822,
        0.9968918561935425,
        0.6219987869262695,
        -0.09252667427062988,
        0.07254516333341599,
        0.590645968914032,
        0.5977043509483337,
        0.5421136021614075,
        0.7312808036804199,
        -0.68049156665802,
        -0.04647614061832428
      ],
      "bottle_position_world": [
        0.1323515772819519,
        -0.18214204907417297,
        0.8068546652793884
      ],
      "bottle_quaternion_world": [
        0.6990799307823181,
        0.5514864921569824,
        -0.44255760312080383,
        -0.10626702010631561
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.8,
      "clearance_m": -0.00018793344497680664,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18270154297351837,
      "action": [
        -0.19115345180034637,
        0.0717831626534462,
        -0.07128623127937317,
        -1.0,
        -0.005766533315181732,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.714451789855957,
        -1.2818002700805664,
        1.7997759580612183,
        -2.1553804874420166,
        -1.0058561563491821,
        -2.942572593688965,
        0.996868371963501,
        0.6213158369064331,
        -0.09223441034555435,
        0.07231608778238297,
        0.585202157497406,
        0.6077760457992554,
        0.5367932915687561,
        0.737346351146698,
        -0.6743080019950867,
        -0.0403665266931057
      ],
      "bottle_position_world": [
        0.13257472217082977,
        -0.18238197267055511,
        0.806851863861084
      ],
      "bottle_quaternion_world": [
        0.6981527805328369,
        0.5553654432296753,
        -0.437605082988739,
        -0.1124892383813858
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.850000000000001,
      "clearance_m": -0.00018084049224853516,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18269115686416626,
      "action": [
        -0.16663555800914764,
        0.009000986814498901,
        -0.04815606400370598,
        -1.0,
        -0.034502170979976654,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.712050676345825,
        -1.2830814123153687,
        1.7991291284561157,
        -2.154156446456909,
        -1.0128040313720703,
        -2.9510107040405273,
        0.9968507289886475,
        0.6207152009010315,
        -0.0921754315495491,
        0.07217106968164444,
        0.5794551372528076,
        0.61788409948349,
        0.5314613580703735,
        0.7434419393539429,
        -0.667934238910675,
        -0.03402947634458542
      ],
      "bottle_position_world": [
        0.13280221819877625,
        -0.18263430893421173,
        0.8068588972091675
      ],
      "bottle_quaternion_world": [
        0.6970320343971252,
        0.5594217777252197,
        -0.43249601125717163,
        -0.1189153790473938
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.9,
      "clearance_m": -0.00018733739852905273,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18268714845180511,
      "action": [
        -0.14726607501506805,
        -0.03631798177957535,
        -0.03302900120615959,
        -1.0,
        -0.06755315512418747,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7099995613098145,
        -1.2841883897781372,
        1.798383355140686,
        -2.153102159500122,
        -1.0192663669586182,
        -2.959265947341919,
        0.9968361258506775,
        0.6202053427696228,
        -0.09228412061929703,
        0.07207265496253967,
        0.5737720727920532,
        0.6274033784866333,
        0.5264508128166199,
        0.7491884231567383,
        -0.6617708206176758,
        -0.027858799323439598
      ],
      "bottle_position_world": [
        0.1330426037311554,
        -0.1828916370868683,
        0.8068594336509705
      ],
      "bottle_quaternion_world": [
        0.6959266066551208,
        0.5634797215461731,
        -0.4270896911621094,
        -0.12558402121067047
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 10.950000000000001,
      "clearance_m": -0.00019234418869018555,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18269096314907074,
      "action": [
        -0.14866895973682404,
        -0.07293938100337982,
        -0.02038448676466942,
        -1.0,
        -0.06300415843725204,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.70808482170105,
        -1.2852988243103027,
        1.7974449396133423,
        -2.151793956756592,
        -1.0258640050888062,
        -2.967867851257324,
        0.9968253374099731,
        0.6196854710578918,
        -0.09252521395683289,
        0.07202615588903427,
        0.5679038166999817,
        0.6370199918746948,
        0.5212398171424866,
        0.75499027967453,
        -0.6553791761398315,
        -0.021625887602567673
      ],
      "bottle_position_world": [
        0.13328780233860016,
        -0.18316075205802917,
        0.806853175163269
      ],
      "bottle_quaternion_world": [
        0.6946314573287964,
        0.5676905512809753,
        -0.4215100407600403,
        -0.13245321810245514
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.0,
      "clearance_m": -0.0001971721649169922,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1826966106891632,
      "action": [
        -0.13815198838710785,
        -0.0965881422162056,
        -0.018276330083608627,
        -1.0,
        -0.08402024954557419,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.706270933151245,
        -1.286361813545227,
        1.7964982986450195,
        -2.150674819946289,
        -1.0324534177780151,
        -2.9767019748687744,
        0.9968169331550598,
        0.6191955804824829,
        -0.09285921603441238,
        0.07198930531740189,
        0.5617740154266357,
        0.6466731429100037,
        0.5159687399864197,
        0.7608145475387573,
        -0.6487910151481628,
        -0.015214325860142708
      ],
      "bottle_position_world": [
        0.13354207575321198,
        -0.18343687057495117,
        0.8068455457687378
      ],
      "bottle_quaternion_world": [
        0.6932622194290161,
        0.5719441175460815,
        -0.4156908392906189,
        -0.13953030109405518
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.05,
      "clearance_m": -0.0001971125602722168,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1826920509338379,
      "action": [
        -0.128936767578125,
        -0.11069454252719879,
        -0.014625679701566696,
        -1.0,
        -0.11946325749158859,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.704545736312866,
        -1.2874491214752197,
        1.7957078218460083,
        -2.1499619483947754,
        -1.0389461517333984,
        -2.9857308864593506,
        0.9968098998069763,
        0.6187332272529602,
        -0.09325022250413895,
        0.07196566462516785,
        0.5553228855133057,
        0.6563392281532288,
        0.5107205510139465,
        0.766647458076477,
        -0.6420116424560547,
        -0.008535852655768394
      ],
      "bottle_position_world": [
        0.13380281627178192,
        -0.18372078239917755,
        0.8068490028381348
      ],
      "bottle_quaternion_world": [
        0.6917696595191956,
        0.5762598514556885,
        -0.4096764326095581,
        -0.14678116142749786
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.100000000000001,
      "clearance_m": -0.00019305944442749023,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1826862394809723,
      "action": [
        -0.12145014107227325,
        -0.11989201605319977,
        -0.011731799691915512,
        -1.0,
        -0.16148805618286133,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7030138969421387,
        -1.2885178327560425,
        1.7952046394348145,
        -2.1497690677642822,
        -1.0449247360229492,
        -2.994389057159424,
        0.9968025088310242,
        0.6183143258094788,
        -0.09365946054458618,
        0.07194165885448456,
        0.5489543080329895,
        0.665417492389679,
        0.505834698677063,
        0.7721225619316101,
        -0.6354705095291138,
        -0.001990595832467079
      ],
      "bottle_position_world": [
        0.13407236337661743,
        -0.18401369452476501,
        0.8068544864654541
      ],
      "bottle_quaternion_world": [
        0.6901553869247437,
        0.5806442499160767,
        -0.403415322303772,
        -0.15425311028957367
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.15,
      "clearance_m": -0.00019377470016479492,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18269212543964386,
      "action": [
        -0.13105876743793488,
        -0.13212797045707703,
        -0.0045049749314785,
        -1.0,
        -0.16469085216522217,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7015457153320312,
        -1.2897075414657593,
        1.794782042503357,
        -2.149597644805908,
        -1.0509886741638184,
        -3.0033037662506104,
        0.996796727180481,
        0.6178566813468933,
        -0.09411758929491043,
        0.07195013016462326,
        0.542363703250885,
        0.674575924873352,
        0.500788688659668,
        0.77763831615448,
        -0.6286948323249817,
        0.0046717217192053795
      ],
      "bottle_position_world": [
        0.1343473196029663,
        -0.1843176633119583,
        0.806849479675293
      ],
      "bottle_quaternion_world": [
        0.6883429288864136,
        0.585143506526947,
        -0.3969579041004181,
        -0.16191209852695465
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.200000000000001,
      "clearance_m": -0.00018775463104248047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1826854795217514,
      "action": [
        -0.12647360563278198,
        -0.13839168846607208,
        -0.008403878659009933,
        -1.0,
        -0.18812847137451172,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7001211643218994,
        -1.2909235954284668,
        1.7945410013198853,
        -2.149794101715088,
        -1.0570151805877686,
        -3.0123772621154785,
        0.9967913031578064,
        0.6174083948135376,
        -0.0946061909198761,
        0.0719471275806427,
        0.5355104207992554,
        0.6837498545646667,
        0.4956966042518616,
        0.7831529378890991,
        -0.6217225790023804,
        0.01153145544230938
      ],
      "bottle_position_world": [
        0.13463373482227325,
        -0.1846276968717575,
        0.8068575859069824
      ],
      "bottle_quaternion_world": [
        0.6864716410636902,
        0.5896294713020325,
        -0.39020898938179016,
        -0.1697966307401657
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.25,
      "clearance_m": -0.00018793344497680664,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1826934516429901,
      "action": [
        -0.12224180996417999,
        -0.14125144481658936,
        -0.008812185376882553,
        -1.0,
        -0.22237733006477356,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6987521648406982,
        -1.2922158241271973,
        1.7945736646652222,
        -2.1504788398742676,
        -1.0629316568374634,
        -3.0215935707092285,
        0.9967869520187378,
        0.6169691681861877,
        -0.09511196613311768,
        0.0719422847032547,
        0.5283620357513428,
        0.6929107904434204,
        0.49062013626098633,
        0.7886448502540588,
        -0.6145661473274231,
        0.01864880882203579
      ],
      "bottle_position_world": [
        0.1349237561225891,
        -0.18494707345962524,
        0.8068524599075317
      ],
      "bottle_quaternion_world": [
        0.6843951344490051,
        0.5941952466964722,
        -0.3832976520061493,
        -0.177815243601799
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.3,
      "clearance_m": -0.0001894235610961914,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18270209431648254,
      "action": [
        -0.11861617863178253,
        -0.14193195104599,
        -0.009550612419843674,
        -1.0,
        -0.26061496138572693,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.697526454925537,
        -1.2935060262680054,
        1.7949094772338867,
        -2.1516294479370117,
        -1.068368673324585,
        -3.0303869247436523,
        0.9967818856239319,
        0.6165595650672913,
        -0.09559976309537888,
        0.07192457467317581,
        0.5213721990585327,
        0.7014948725700378,
        0.48587676882743835,
        0.7937729954719543,
        -0.6076760292053223,
        0.025583315640687943
      ],
      "bottle_position_world": [
        0.1352233588695526,
        -0.18527187407016754,
        0.8068473935127258
      ],
      "bottle_quaternion_world": [
        0.6822354793548584,
        0.5987317562103271,
        -0.37612658739089966,
        -0.1860211342573166
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.350000000000001,
      "clearance_m": -0.00019878149032592773,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1827048659324646,
      "action": [
        -0.1288239061832428,
        -0.14783328771591187,
        -0.002646278589963913,
        -1.0,
        -0.2610550820827484,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.696338176727295,
        -1.2949341535568237,
        1.7953544855117798,
        -2.152822494506836,
        -1.0738892555236816,
        -3.039410352706909,
        0.9967774152755737,
        0.6161085367202759,
        -0.09611590206623077,
        0.07193756848573685,
        0.5141697525978088,
        0.7101463675498962,
        0.4809591472148895,
        0.7989252805709839,
        -0.6005448698997498,
        0.03262539952993393
      ],
      "bottle_position_world": [
        0.1355312466621399,
        -0.1856033205986023,
        0.8068493008613586
      ],
      "bottle_quaternion_world": [
        0.6799516677856445,
        0.603260338306427,
        -0.368713915348053,
        -0.19440364837646484
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.4,
      "clearance_m": -0.00018090009689331055,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1826990842819214,
      "action": [
        -0.12561051547527313,
        -0.15087735652923584,
        -0.007533159106969833,
        -1.0,
        -0.2780230641365051,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6951751708984375,
        -1.2963913679122925,
        1.7959731817245483,
        -2.1543405055999756,
        -1.079390525817871,
        -3.048576831817627,
        0.9967736005783081,
        0.6156620383262634,
        -0.09665091335773468,
        0.07193587720394135,
        0.506738543510437,
        0.7188031077384949,
        0.475960373878479,
        0.804058849811554,
        -0.5932140946388245,
        0.03982775658369064
      ],
      "bottle_position_world": [
        0.13584184646606445,
        -0.1859467774629593,
        0.8068616986274719
      ],
      "bottle_quaternion_world": [
        0.6773908734321594,
        0.6079046726226807,
        -0.36113467812538147,
        -0.20291690528392792
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.450000000000001,
      "clearance_m": -0.0001901388168334961,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1827193796634674,
      "action": [
        -0.12311513721942902,
        -0.15145140886306763,
        -0.008978422731161118,
        -1.0,
        -0.30469727516174316,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6940534114837646,
        -1.297922968864441,
        1.7968443632125854,
        -2.1562814712524414,
        -1.08480703830719,
        -3.057872772216797,
        0.9967697262763977,
        0.6152185797691345,
        -0.097195565700531,
        0.07192891091108322,
        0.49905669689178467,
        0.7274361848831177,
        0.4709342420101166,
        0.809150218963623,
        -0.5856996774673462,
        0.04724068567156792
      ],
      "bottle_position_world": [
        0.13616271317005157,
        -0.18629524111747742,
        0.8068488240242004
      ],
      "bottle_quaternion_world": [
        0.674741268157959,
        0.6124842762947083,
        -0.3532783091068268,
        -0.21161694824695587
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.5,
      "clearance_m": -0.00019419193267822266,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18272913992404938,
      "action": [
        -0.12072275578975677,
        -0.15040190517902374,
        -0.01097942516207695,
        -1.0,
        -0.33476847410202026,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.693044424057007,
        -1.2994292974472046,
        1.7979381084442139,
        -2.1585440635681152,
        -1.0898011922836304,
        -3.0667290687561035,
        0.9967655539512634,
        0.6148004531860352,
        -0.09771330654621124,
        0.07190517336130142,
        0.4916073977947235,
        0.7355161905288696,
        0.4661954343318939,
        0.8138861060142517,
        -0.5784719586372375,
        0.05440428853034973
      ],
      "bottle_position_world": [
        0.13648825883865356,
        -0.18665103614330292,
        0.8068481087684631
      ],
      "bottle_quaternion_world": [
        0.671899139881134,
        0.6170703768730164,
        -0.3452325165271759,
        -0.22043192386627197
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.55,
      "clearance_m": -0.0001906752586364746,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1827383041381836,
      "action": [
        -0.13045302033424377,
        -0.15488678216934204,
        -0.002993237227201462,
        -1.0,
        -0.32937121391296387,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6920580863952637,
        -1.3010660409927368,
        1.7991065979003906,
        -2.160797357559204,
        -1.094897747039795,
        -3.075810670852661,
        0.9967619776725769,
        0.6143426299095154,
        -0.09825509786605835,
        0.07191499322652817,
        0.48396262526512146,
        0.743658185005188,
        0.46125149726867676,
        0.8186375498771667,
        -0.5709928274154663,
        0.061644185334444046
      ],
      "bottle_position_world": [
        0.13681970536708832,
        -0.18701428174972534,
        0.8068495392799377
      ],
      "bottle_quaternion_world": [
        0.6688708662986755,
        0.6216486096382141,
        -0.33697402477264404,
        -0.22937577962875366
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.600000000000001,
      "clearance_m": -0.00018709897994995117,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1827460527420044,
      "action": [
        -0.1280062347650528,
        -0.15705743432044983,
        -0.007789980620145798,
        -1.0,
        -0.3389741778373718,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.691084623336792,
        -1.3027238845825195,
        1.8004101514816284,
        -2.163302421569824,
        -1.1000021696090698,
        -3.085034132003784,
        0.9967583417892456,
        0.6138861179351807,
        -0.09881281852722168,
        0.07191070914268494,
        0.47611844539642334,
        0.7518013119697571,
        0.4561867117881775,
        0.8233616352081299,
        -0.5633068680763245,
        0.0690004751086235
      ],
      "bottle_position_world": [
        0.13716015219688416,
        -0.18738533556461334,
        0.8068538904190063
      ],
      "bottle_quaternion_world": [
        0.6656721234321594,
        0.6261982917785645,
        -0.32844141125679016,
        -0.23850077390670776
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.65,
      "clearance_m": -0.00018852949142456055,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18275798857212067,
      "action": [
        -0.12603585422039032,
        -0.15716776251792908,
        -0.009879346936941147,
        -1.0,
        -0.3580208122730255,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.690138816833496,
        -1.3044397830963135,
        1.8019229173660278,
        -2.166154146194458,
        -1.1050530672073364,
        -3.09438419342041,
        0.9967555999755859,
        0.6134305000305176,
        -0.09937803447246552,
        0.07189832627773285,
        0.4680584967136383,
        0.7599172592163086,
        0.4510512351989746,
        0.8280342817306519,
        -0.5554317235946655,
        0.07651819288730621
      ],
      "bottle_position_world": [
        0.13750982284545898,
        -0.1877642273902893,
        0.8068556189537048
      ],
      "bottle_quaternion_world": [
        0.6622952818870544,
        0.6307091116905212,
        -0.31962957978248596,
        -0.24780631065368652
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.700000000000001,
      "clearance_m": -0.00018787384033203125,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1827797293663025,
      "action": [
        -0.12462115287780762,
        -0.15680330991744995,
        -0.01142820343375206,
        -1.0,
        -0.38068050146102905,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6892917156219482,
        -1.3061107397079468,
        1.8035732507705688,
        -2.1691932678222656,
        -1.109731912612915,
        -3.1032967567443848,
        0.9967526793479919,
        0.6129986643791199,
        -0.0999184250831604,
        0.07187248766422272,
        0.46028366684913635,
        0.7675095796585083,
        0.4461705684661865,
        0.8323675394058228,
        -0.5478610396385193,
        0.08374221622943878
      ],
      "bottle_position_world": [
        0.13786406815052032,
        -0.18815085291862488,
        0.8068494200706482
      ],
      "bottle_quaternion_world": [
        0.6586933135986328,
        0.6352024078369141,
        -0.31062018871307373,
        -0.2572084069252014
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.75,
      "clearance_m": -0.00017982721328735352,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18278633058071136,
      "action": [
        -0.13372330367565155,
        -0.1607298105955124,
        -0.0030024759471416473,
        -1.0,
        -0.369891881942749,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.688455581665039,
        -1.3078991174697876,
        1.8052632808685303,
        -2.1721742153167725,
        -1.114532232284546,
        -3.1124348640441895,
        0.9967494010925293,
        0.6125278472900391,
        -0.10048133879899979,
        0.07188090682029724,
        0.45232707262039185,
        0.7751573920249939,
        0.441057026386261,
        0.8367123603820801,
        -0.5400279760360718,
        0.09100634604692459
      ],
      "bottle_position_world": [
        0.13822612166404724,
        -0.18854717910289764,
        0.8068604469299316
      ],
      "bottle_quaternion_world": [
        0.6548516750335693,
        0.639684796333313,
        -0.3013381361961365,
        -0.2667733132839203
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.8,
      "clearance_m": -0.00018680095672607422,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1828097552061081,
      "action": [
        -0.1320374757051468,
        -0.1633174866437912,
        -0.007097344845533371,
        -1.0,
        -0.37355488538742065,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6876275539398193,
        -1.3097020387649536,
        1.8070515394210815,
        -2.175340414047241,
        -1.119363784790039,
        -3.121723175048828,
        0.9967466592788696,
        0.6120560765266418,
        -0.10106182843446732,
        0.07187770307064056,
        0.44419029355049133,
        0.7828035950660706,
        0.4357911944389343,
        0.8410261869430542,
        -0.5319800972938538,
        0.0983504205942154
      ],
      "bottle_position_world": [
        0.13859909772872925,
        -0.1889505833387375,
        0.8068562746047974
      ],
      "bottle_quaternion_world": [
        0.6508347988128662,
        0.6440736055374146,
        -0.2917483448982239,
        -0.2765251398086548
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.850000000000001,
      "clearance_m": -0.00018912553787231445,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18284034729003906,
      "action": [
        -0.13067638874053955,
        -0.1634981483221054,
        -0.009431179612874985,
        -1.0,
        -0.38670822978019714,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.686821222305298,
        -1.3115521669387817,
        1.809013843536377,
        -2.1787946224212646,
        -1.1241673231124878,
        -3.1311423778533936,
        0.9967437982559204,
        0.6115828156471252,
        -0.10165123641490936,
        0.07186605781316757,
        0.43586087226867676,
        0.7904197573661804,
        0.4304209053516388,
        0.8452820181846619,
        -0.5237371921539307,
        0.10581935197114944
      ],
      "bottle_position_world": [
        0.13897614181041718,
        -0.1893630176782608,
        0.8068472743034363
      ],
      "bottle_quaternion_world": [
        0.6465449929237366,
        0.6484457850456238,
        -0.2819497883319855,
        -0.2863600552082062
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.9,
      "clearance_m": -0.000194549560546875,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18286365270614624,
      "action": [
        -0.13004565238952637,
        -0.16255663335323334,
        -0.011598479002714157,
        -1.0,
        -0.4040730893611908,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.686096668243408,
        -1.3133409023284912,
        1.8110649585723877,
        -2.182356119155884,
        -1.1286348104476929,
        -3.1401195526123047,
        0.9967411160469055,
        0.611131489276886,
        -0.10221238434314728,
        0.07183857262134552,
        0.42785388231277466,
        0.7975389957427979,
        0.4252917170524597,
        0.8492187857627869,
        -0.5158169269561768,
        0.11296368390321732
      ],
      "bottle_position_world": [
        0.13936129212379456,
        -0.18978142738342285,
        0.8068475127220154
      ],
      "bottle_quaternion_world": [
        0.6420602202415466,
        0.6527078151702881,
        -0.2718943953514099,
        -0.2963184714317322
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 11.950000000000001,
      "clearance_m": -0.00019484758377075195,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18288303911685944,
      "action": [
        -0.1392461210489273,
        -0.1664946973323822,
        -0.0022230856120586395,
        -1.0,
        -0.38955578207969666,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.685377836227417,
        -1.3152445554733276,
        1.8131316900253296,
        -2.185821056365967,
        -1.133235216140747,
        -3.14932918548584,
        0.9967378377914429,
        0.6106403470039368,
        -0.10279572755098343,
        0.07184907793998718,
        0.4196693003177643,
        0.8047063946723938,
        0.4199112355709076,
        0.8531644344329834,
        -0.5076231360435486,
        0.120122030377388
      ],
      "bottle_position_world": [
        0.13975365459918976,
        -0.19020545482635498,
        0.8068537712097168
      ],
      "bottle_quaternion_world": [
        0.6373728513717651,
        0.656851589679718,
        -0.26160427927970886,
        -0.3063741624355316
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.0,
      "clearance_m": -0.0001894235610961914,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1829156130552292,
      "action": [
        -0.13762688636779785,
        -0.16930636763572693,
        -0.006391610950231552,
        -1.0,
        -0.3889963626861572,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6846632957458496,
        -1.3171528577804565,
        1.8152698278427124,
        -2.1894307136535645,
        -1.137884259223938,
        -3.1586925983428955,
        0.9967358708381653,
        0.6101478934288025,
        -0.10339859127998352,
        0.07184804975986481,
        0.41131922602653503,
        0.8118652105331421,
        0.41435644030570984,
        0.8570745587348938,
        -0.4992097020149231,
        0.12732942402362823
      ],
      "bottle_position_world": [
        0.14014972746372223,
        -0.19064301252365112,
        0.8068498373031616
      ],
      "bottle_quaternion_world": [
        0.6323103308677673,
        0.6610339879989624,
        -0.25107359886169434,
        -0.3165121078491211
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.05,
      "clearance_m": -0.00019490718841552734,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1829507052898407,
      "action": [
        -0.1370801478624344,
        -0.1692926585674286,
        -0.008761938661336899,
        -1.0,
        -0.39818575978279114,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6839661598205566,
        -1.319104552268982,
        1.8175641298294067,
        -2.1932895183563232,
        -1.1425219774246216,
        -3.1681923866271973,
        0.9967333674430847,
        0.6096505522727966,
        -0.10400985926389694,
        0.07183801382780075,
        0.4027910828590393,
        0.8189898729324341,
        0.40867507457733154,
        0.860923707485199,
        -0.49059635400772095,
        0.13463270664215088
      ],
      "bottle_position_world": [
        0.14055505394935608,
        -0.19108180701732635,
        0.8068450689315796
      ],
      "bottle_quaternion_world": [
        0.6271260976791382,
        0.6649850010871887,
        -0.24030478298664093,
        -0.32674387097358704
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.100000000000001,
      "clearance_m": -0.0001913905143737793,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.182978093624115,
      "action": [
        -0.13674648106098175,
        -0.16866393387317657,
        -0.010942500084638596,
        -1.0,
        -0.41176795959472656,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.683340549468994,
        -1.320981740951538,
        1.8199048042297363,
        -2.197195529937744,
        -1.1468478441238403,
        -3.177250623703003,
        0.9967310428619385,
        0.6091753244400024,
        -0.10459231585264206,
        0.07181261479854584,
        0.3946097195148468,
        0.8256431221961975,
        0.403233140707016,
        0.8644742369651794,
        -0.4823226034641266,
        0.14159654080867767
      ],
      "bottle_position_world": [
        0.14096449315547943,
        -0.1915280818939209,
        0.8068506717681885
      ],
      "bottle_quaternion_world": [
        0.621664822101593,
        0.6688503623008728,
        -0.22933611273765564,
        -0.33701205253601074
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.15,
      "clearance_m": -0.00018769502639770508,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18301565945148468,
      "action": [
        -0.14571385085582733,
        -0.17260460555553436,
        -0.0011002086102962494,
        -1.0,
        -0.3945305049419403,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6827173233032227,
        -1.3229682445526123,
        1.8222417831420898,
        -2.2009778022766113,
        -1.1513162851333618,
        -3.1865453720092773,
        0.9967281222343445,
        0.6086608171463013,
        -0.10519805550575256,
        0.07182628661394119,
        0.38625553250312805,
        0.8323334455490112,
        0.3975270390510559,
        0.8680305480957031,
        -0.47376859188079834,
        0.14854812622070312
      ],
      "bottle_position_world": [
        0.14137950539588928,
        -0.19198128581047058,
        0.8068486452102661
      ],
      "bottle_quaternion_world": [
        0.6159429550170898,
        0.6725968718528748,
        -0.2181464284658432,
        -0.3473324775695801
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.200000000000001,
      "clearance_m": -0.00020003318786621094,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18305565416812897,
      "action": [
        -0.1443471908569336,
        -0.17489801347255707,
        -0.005446385592222214,
        -1.0,
        -0.3912239372730255,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6820926666259766,
        -1.3249545097351074,
        1.8246387243270874,
        -2.204883575439453,
        -1.1558438539505005,
        -3.195996046066284,
        0.9967263340950012,
        0.6081435084342957,
        -0.1058216318488121,
        0.07182773947715759,
        0.37774303555488586,
        0.8390074968338013,
        0.3916333317756653,
        0.8715483546257019,
        -0.4649898409843445,
        0.15552456676959991
      ],
      "bottle_position_world": [
        0.14180195331573486,
        -0.19243837893009186,
        0.8068464398384094
      ],
      "bottle_quaternion_world": [
        0.6100199222564697,
        0.6761488318443298,
        -0.20673459768295288,
        -0.35771408677101135
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.25,
      "clearance_m": -0.0001932382583618164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18309199810028076,
      "action": [
        -0.143550843000412,
        -0.17506328225135803,
        -0.007899310439825058,
        -1.0,
        -0.3976803421974182,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6814804077148438,
        -1.326974630355835,
        1.8271713256835938,
        -2.2090117931365967,
        -1.1603713035583496,
        -3.205585479736328,
        0.9967243671417236,
        0.6076220870018005,
        -0.10645367950201035,
        0.07182009518146515,
        0.36906227469444275,
        0.8456404805183411,
        0.3855978846549988,
        0.875001847743988,
        -0.45600688457489014,
        0.16257251799106598
      ],
      "bottle_position_world": [
        0.14222842454910278,
        -0.19290491938591003,
        0.8068510293960571
      ],
      "bottle_quaternion_world": [
        0.6037687063217163,
        0.6796221733093262,
        -0.19510510563850403,
        -0.3681182861328125
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.3,
      "clearance_m": -0.00019174814224243164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18313878774642944,
      "action": [
        -0.14355969429016113,
        -0.17476896941661835,
        -0.009702559560537338,
        -1.0,
        -0.4087267518043518,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.680934190750122,
        -1.3289134502410889,
        1.829720139503479,
        -2.213144302368164,
        -1.1646023988723755,
        -3.214733600616455,
        0.9967222809791565,
        0.6071226596832275,
        -0.10705732554197311,
        0.07179827243089676,
        0.3607472777366638,
        0.8518250584602356,
        0.37981003522872925,
        0.878176212310791,
        -0.44738367199897766,
        0.16927658021450043
      ],
      "bottle_position_world": [
        0.1426607221364975,
        -0.1933751404285431,
        0.8068475723266602
      ],
      "bottle_quaternion_world": [
        0.5973004102706909,
        0.6828957200050354,
        -0.1832849532365799,
        -0.3785397410392761
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.350000000000001,
      "clearance_m": -0.00019752979278564453,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.183186337351799,
      "action": [
        -0.1521982103586197,
        -0.1781274378299713,
        -8.631870150566101e-05,
        -1.0,
        -0.38965123891830444,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6803855895996094,
        -1.3309555053710938,
        1.8322551250457764,
        -2.2171411514282227,
        -1.1689822673797607,
        -3.2241175174713135,
        0.9967197179794312,
        0.6065848469734192,
        -0.1076832115650177,
        0.07181508094072342,
        0.35226255655288696,
        0.8580335974693298,
        0.37375056743621826,
        0.8813525438308716,
        -0.4384758472442627,
        0.17594470083713531
      ],
      "bottle_position_world": [
        0.1430981159210205,
        -0.19385188817977905,
        0.8068462610244751
      ],
      "bottle_quaternion_world": [
        0.5905542373657227,
        0.6860142946243286,
        -0.17125816643238068,
        -0.38897404074668884
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.4,
      "clearance_m": -0.00018805265426635742,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18323326110839844,
      "action": [
        -0.1509627401828766,
        -0.18026435375213623,
        -0.004478227347135544,
        -1.0,
        -0.38447365164756775,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.679832935333252,
        -1.3329932689666748,
        1.8348402976989746,
        -2.2212445735931396,
        -1.1734284162521362,
        -3.233660936355591,
        0.9967179894447327,
        0.6060432195663452,
        -0.1083267405629158,
        0.07181922346353531,
        0.34362536668777466,
        0.8642160892486572,
        0.36749500036239624,
        0.8844881057739258,
        -0.4293402433395386,
        0.18261529505252838
      ],
      "bottle_position_world": [
        0.14353983104228973,
        -0.19433505833148956,
        0.8068485856056213
      ],
      "bottle_quaternion_world": [
        0.5835230350494385,
        0.6889768838882446,
        -0.15903930366039276,
        -0.39939743280410767
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.450000000000001,
      "clearance_m": -0.00018674135208129883,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18328163027763367,
      "action": [
        -0.1505364030599594,
        -0.18039852380752563,
        -0.00686369463801384,
        -1.0,
        -0.38920122385025024,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6792914867401123,
        -1.3350634574890137,
        1.8375540971755981,
        -2.2255547046661377,
        -1.1778806447982788,
        -3.2433464527130127,
        0.9967160820960999,
        0.6054956316947937,
        -0.10897861421108246,
        0.07181457430124283,
        0.33482739329338074,
        0.8703480362892151,
        0.3610885739326477,
        0.8875539898872375,
        -0.4199988842010498,
        0.18933814764022827
      ],
      "bottle_position_world": [
        0.14398881793022156,
        -0.19482184946537018,
        0.8068521022796631
      ],
      "bottle_quaternion_world": [
        0.5762706995010376,
        0.6916964054107666,
        -0.1466168761253357,
        -0.4098435640335083
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.5,
      "clearance_m": -0.0001990795135498047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1833401918411255,
      "action": [
        -0.15046852827072144,
        -0.1801835298538208,
        -0.008798625320196152,
        -1.0,
        -0.39844751358032227,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.678809642791748,
        -1.3370444774627686,
        1.8402618169784546,
        -2.229844331741333,
        -1.1820483207702637,
        -3.2525880336761475,
        0.9967142343521118,
        0.6049720048904419,
        -0.10960142314434052,
        0.07179556787014008,
        0.32640886306762695,
        0.8760556578636169,
        0.3549422323703766,
        0.8903605341911316,
        -0.41103702783584595,
        0.19572113454341888
      ],
      "bottle_position_world": [
        0.1444421112537384,
        -0.1953137367963791,
        0.8068483471870422
      ],
      "bottle_quaternion_world": [
        0.5687516927719116,
        0.6942213773727417,
        -0.1340242177248001,
        -0.4202568531036377
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.55,
      "clearance_m": -0.00018131732940673828,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1833893358707428,
      "action": [
        -0.15890094637870789,
        -0.1832965612411499,
        0.0008644051849842072,
        -1.0,
        -0.3781663775444031,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.678323268890381,
        -1.3391245603561401,
        1.8429484367370605,
        -2.2339868545532227,
        -1.186367392539978,
        -3.2620677947998047,
        0.996712327003479,
        0.6044095158576965,
        -0.11024611443281174,
        0.07181501388549805,
        0.3178221583366394,
        0.8817722201347351,
        0.34852126240730286,
        0.8931659460067749,
        -0.4017869830131531,
        0.20204399526119232
      ],
      "bottle_position_world": [
        0.14489991962909698,
        -0.19581405818462372,
        0.8068575859069824
      ],
      "bottle_quaternion_world": [
        0.5608996152877808,
        0.696593701839447,
        -0.12122222781181335,
        -0.43064388632774353
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.600000000000001,
      "clearance_m": -0.00017952919006347656,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18344375491142273,
      "action": [
        -0.15792860090732574,
        -0.18575385212898254,
        -0.00316518172621727,
        -1.0,
        -0.37172573804855347,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6778335571289062,
        -1.341200351715088,
        1.845677137374878,
        -2.238219738006592,
        -1.190756916999817,
        -3.2717125415802,
        0.9967105984687805,
        0.6038423776626587,
        -0.11090926826000214,
        0.07182318717241287,
        0.309086412191391,
        0.8874517679214478,
        0.3418993651866913,
        0.8959270715713501,
        -0.39230725169181824,
        0.20835034549236298
      ],
      "bottle_position_world": [
        0.14536534249782562,
        -0.19632022082805634,
        0.8068647384643555
      ],
      "bottle_quaternion_world": [
        0.5527699589729309,
        0.698727011680603,
        -0.10819564759731293,
        -0.4410439431667328
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.65,
      "clearance_m": -0.00017875432968139648,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1835162490606308,
      "action": [
        -0.1575782746076584,
        -0.1863049566745758,
        -0.00553501769900322,
        -1.0,
        -0.3750470280647278,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6773569583892822,
        -1.3433042764663696,
        1.8485239744186401,
        -2.2426443099975586,
        -1.195157527923584,
        -3.2815051078796387,
        0.9967090487480164,
        0.6032684445381165,
        -0.11158338189125061,
        0.07182280719280243,
        0.3001973032951355,
        0.8930713534355164,
        0.3351204991340637,
        0.8986146450042725,
        -0.3826223611831665,
        0.2146909236907959
      ],
      "bottle_position_world": [
        0.14583554863929749,
        -0.19683529436588287,
        0.8068574070930481
      ],
      "bottle_quaternion_world": [
        0.5442908406257629,
        0.7006894946098328,
        -0.09495236724615097,
        -0.451404333114624
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.700000000000001,
      "clearance_m": -0.00017178058624267578,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18357455730438232,
      "action": [
        -0.15783804655075073,
        -0.18553298711776733,
        -0.007887061685323715,
        -1.0,
        -0.38320136070251465,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6769325733184814,
        -1.3453164100646973,
        1.851356863975525,
        -2.2470383644104004,
        -1.1992803812026978,
        -3.2908480167388916,
        0.9967070817947388,
        0.6027188897132874,
        -0.11222466081380844,
        0.07180706411600113,
        0.2916973829269409,
        0.898288905620575,
        0.32861775159835815,
        0.9010613560676575,
        -0.3733358085155487,
        0.2207007110118866
      ],
      "bottle_position_world": [
        0.14631617069244385,
        -0.19735947251319885,
        0.8068682551383972
      ],
      "bottle_quaternion_world": [
        0.5354676842689514,
        0.70240318775177,
        -0.0814095139503479,
        -0.4618188440799713
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.75,
      "clearance_m": -0.00018215179443359375,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18365918099880219,
      "action": [
        -0.16706453263759613,
        -0.18920692801475525,
        0.0022312141954898834,
        -1.0,
        -0.36219483613967896,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6765096187591553,
        -1.3474321365356445,
        1.8541675806045532,
        -2.251272201538086,
        -1.2035549879074097,
        -3.300438165664673,
        0.9967050552368164,
        0.6021273732185364,
        -0.11289023607969284,
        0.07183053344488144,
        0.28303074836730957,
        0.9035000205039978,
        0.3218408226966858,
        0.9035030603408813,
        -0.36376050114631653,
        0.22662894427776337
      ],
      "bottle_position_world": [
        0.14680323004722595,
        -0.19789062440395355,
        0.8068562746047974
      ],
      "bottle_quaternion_world": [
        0.526323676109314,
        0.7038716077804565,
        -0.06765323132276535,
        -0.4721983075141907
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.8,
      "clearance_m": -0.0001723766326904297,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18371930718421936,
      "action": [
        -0.16651101410388947,
        -0.19120877981185913,
        -0.002379816025495529,
        -1.0,
        -0.35500049591064453,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6760833263397217,
        -1.3495430946350098,
        1.857025146484375,
        -2.2555975914001465,
        -1.2079017162322998,
        -3.3101954460144043,
        0.9967036843299866,
        0.6015287637710571,
        -0.11357388645410538,
        0.07184112071990967,
        0.274218887090683,
        0.9086618423461914,
        0.31486162543296814,
        0.905896008014679,
        -0.3539564311504364,
        0.23252388834953308
      ],
      "bottle_position_world": [
        0.14729754626750946,
        -0.1984255015850067,
        0.8068724274635315
      ],
      "bottle_quaternion_world": [
        0.5169162750244141,
        0.7050284743309021,
        -0.0537179596722126,
        -0.4825421869754791
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.850000000000001,
      "clearance_m": -0.00018459558486938477,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18381667137145996,
      "action": [
        -0.16657911241054535,
        -0.1922607421875,
        -0.00473443791270256,
        -0.9914098381996155,
        -0.3575555682182312,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6756975650787354,
        -1.351674199104309,
        1.8599917888641357,
        -2.2600789070129395,
        -1.21221125125885,
        -3.320161819458008,
        0.9967021346092224,
        0.6009215712547302,
        -0.1142704114317894,
        0.07184302061796188,
        0.26522234082221985,
        0.9137506484985352,
        0.30776143074035645,
        0.9082205295562744,
        -0.343924880027771,
        0.23843525350093842
      ],
      "bottle_position_world": [
        0.14779464900493622,
        -0.19896917045116425,
        0.8068551421165466
      ],
      "bottle_quaternion_world": [
        0.5071414709091187,
        0.7059939503669739,
        -0.03961095213890076,
        -0.49275875091552734
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.9,
      "clearance_m": -0.0001927018165588379,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18390092253684998,
      "action": [
        -0.16716627776622772,
        -0.19169461727142334,
        -0.006256427615880966,
        -0.9783712029457092,
        -0.36325275897979736,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.675391674041748,
        -1.3537007570266724,
        1.8629101514816284,
        -2.2644550800323486,
        -1.2161844968795776,
        -3.329749584197998,
        0.9967007637023926,
        0.6003391146659851,
        -0.11493435502052307,
        0.071832075715065,
        0.256577730178833,
        0.9184569716453552,
        0.30100661516189575,
        0.910336971282959,
        -0.3342805802822113,
        0.2440148890018463
      ],
      "bottle_position_world": [
        0.1483001708984375,
        -0.19951577484607697,
        0.8068545460700989
      ],
      "bottle_quaternion_world": [
        0.49711376428604126,
        0.7065998911857605,
        -0.0253292266279459,
        -0.50294429063797
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 12.950000000000001,
      "clearance_m": -0.00018906593322753906,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18398766219615936,
      "action": [
        -0.17617683112621307,
        -0.1952156126499176,
        0.005139637738466263,
        -0.977505624294281,
        -0.33800727128982544,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.675081491470337,
        -1.3558235168457031,
        1.8657658100128174,
        -2.2686045169830322,
        -1.2203218936920166,
        -3.339595317840576,
        0.9966985583305359,
        0.5997145175933838,
        -0.1156226173043251,
        0.0718650370836258,
        0.2477640062570572,
        0.9231429100036621,
        0.29397374391555786,
        0.9124544262886047,
        -0.32433709502220154,
        0.24946479499340057
      ],
      "bottle_position_world": [
        0.14880849421024323,
        -0.20007047057151794,
        0.8068557381629944
      ],
      "bottle_quaternion_world": [
        0.4867241084575653,
        0.7069867849349976,
        -0.010887889191508293,
        -0.5129823684692383
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.0,
      "clearance_m": -0.0001952648162841797,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1840808391571045,
      "action": [
        -0.17510657012462616,
        -0.19764292240142822,
        0.0005728192627429962,
        -0.9690122008323669,
        -0.32768940925598145,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6747851371765137,
        -1.3579212427139282,
        1.8686295747756958,
        -2.272775411605835,
        -1.2244956493377686,
        -3.349665403366089,
        0.9966975450515747,
        0.5990844964981079,
        -0.11633025854825974,
        0.07188533246517181,
        0.23877233266830444,
        0.927765965461731,
        0.2867719233036041,
        0.9145336747169495,
        -0.3141387403011322,
        0.25484323501586914
      ],
      "bottle_position_world": [
        0.1493247002363205,
        -0.20062915980815887,
        0.8068541884422302
      ],
      "bottle_quaternion_world": [
        0.47605785727500916,
        0.7070161700248718,
        0.003714239690452814,
        -0.522956371307373
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.05,
      "clearance_m": -0.0001838207244873047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18417391180992126,
      "action": [
        -0.17476247251033783,
        -0.19813817739486694,
        -0.00143447145819664,
        -0.9559580683708191,
        -0.3270382881164551,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.674534320831299,
        -1.3600258827209473,
        1.8715691566467285,
        -2.2770445346832275,
        -1.228617548942566,
        -3.359973907470703,
        0.9966958165168762,
        0.5984466075897217,
        -0.1170496791601181,
        0.07189769297838211,
        0.22958101332187653,
        0.9323046803474426,
        0.2794649302959442,
        0.9165487885475159,
        -0.3036987781524658,
        0.2602028250694275
      ],
      "bottle_position_world": [
        0.1498425155878067,
        -0.20119664072990417,
        0.8068573474884033
      ],
      "bottle_quaternion_world": [
        0.4650152027606964,
        0.7068326473236084,
        0.01846291311085224,
        -0.5327360033988953
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.100000000000001,
      "clearance_m": -0.00018465518951416016,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18427549302577972,
      "action": [
        -0.17514054477214813,
        -0.19798946380615234,
        -0.002249162644147873,
        -0.9418352246284485,
        -0.3300666809082031,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.67435622215271,
        -1.3620212078094482,
        1.8744336366653442,
        -2.2811777591705322,
        -1.2324151992797852,
        -3.36989688873291,
        0.9966940879821777,
        0.5978359580039978,
        -0.11773602664470673,
        0.0718999058008194,
        0.22074909508228302,
        0.9364851117134094,
        0.272517591714859,
        0.9183735251426697,
        -0.29366442561149597,
        0.2652387022972107
      ],
      "bottle_position_world": [
        0.15036781132221222,
        -0.2017700970172882,
        0.8068561553955078
      ],
      "bottle_quaternion_world": [
        0.45365187525749207,
        0.7063073515892029,
        0.033382099121809006,
        -0.5424164533615112
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.15,
      "clearance_m": -0.00018775463104248047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18438643217086792,
      "action": [
        -0.18426473438739777,
        -0.20080026984214783,
        0.009027693420648575,
        -0.9405756592750549,
        -0.3034905195236206,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.674170970916748,
        -1.3641101121902466,
        1.8772211074829102,
        -2.2850537300109863,
        -1.2363797426223755,
        -3.3800830841064453,
        0.9966920614242554,
        0.5971823930740356,
        -0.11844521760940552,
        0.0719461441040039,
        0.21174316108226776,
        0.9406279921531677,
        0.26529958844184875,
        0.920198380947113,
        -0.28332796692848206,
        0.2701115310192108
      ],
      "bottle_position_world": [
        0.15089838206768036,
        -0.20234684646129608,
        0.8068494200706482
      ],
      "bottle_quaternion_world": [
        0.442015141248703,
        0.7054250240325928,
        0.048404086381196976,
        -0.5519559383392334
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.200000000000001,
      "clearance_m": -0.0001831650733947754,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18448728322982788,
      "action": [
        -0.18293516337871552,
        -0.20244139432907104,
        0.0034265555441379547,
        -0.932295024394989,
        -0.2927281856536865,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6739962100982666,
        -1.3661659955978394,
        1.8800129890441895,
        -2.2889482975006104,
        -1.240381121635437,
        -3.3904917240142822,
        0.9966906309127808,
        0.5965237021446228,
        -0.11917147785425186,
        0.07197581976652145,
        0.2025592178106308,
        0.9446941614151001,
        0.25792014598846436,
        0.9219798445701599,
        -0.27274006605148315,
        0.2748929560184479
      ],
      "bottle_position_world": [
        0.1514347940683365,
        -0.20293065905570984,
        0.8068575859069824
      ],
      "bottle_quaternion_world": [
        0.43003344535827637,
        0.7042189836502075,
        0.0635770708322525,
        -0.5613420009613037
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.25,
      "clearance_m": -0.00019216537475585938,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18460306525230408,
      "action": [
        -0.18277545273303986,
        -0.20268875360488892,
        0.001083720475435257,
        -0.9193369746208191,
        -0.29245030879974365,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.67387056350708,
        -1.3682301044464111,
        1.8828840255737305,
        -2.2929422855377197,
        -1.2443230152130127,
        -3.4011425971984863,
        0.9966893196105957,
        0.5958563685417175,
        -0.11990907043218613,
        0.07199663668870926,
        0.19317418336868286,
        0.9486631751060486,
        0.25044363737106323,
        0.9236871004104614,
        -0.2619144320487976,
        0.2796480655670166
      ],
      "bottle_position_world": [
        0.1519765406847,
        -0.20351795852184296,
        0.8068547248840332
      ],
      "bottle_quaternion_world": [
        0.41777360439300537,
        0.7026423811912537,
        0.07883720099925995,
        -0.5705643892288208
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.3,
      "clearance_m": -0.0001742243766784668,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18471311032772064,
      "action": [
        -0.1827326864004135,
        -0.20213642716407776,
        -0.0003601275384426117,
        -0.9055359959602356,
        -0.29616227746009827,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.673811197280884,
        -1.3701847791671753,
        1.8856862783432007,
        -2.2968249320983887,
        -1.2479444742202759,
        -3.4113879203796387,
        0.996687114238739,
        0.595219075679779,
        -0.12061107158660889,
        0.07200539857149124,
        0.18415868282318115,
        0.952296793460846,
        0.2433444857597351,
        0.9252119064331055,
        -0.25152143836021423,
        0.2841126322746277
      ],
      "bottle_position_world": [
        0.15252088010311127,
        -0.20411302149295807,
        0.8068625926971436
      ],
      "bottle_quaternion_world": [
        0.40516212582588196,
        0.7007805109024048,
        0.09420768171548843,
        -0.5795474052429199
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.350000000000001,
      "clearance_m": -0.00018334388732910156,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18484461307525635,
      "action": [
        -0.19207625091075897,
        -0.20448535680770874,
        0.010813701897859573,
        -0.9039943814277649,
        -0.27052056789398193,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.673748731613159,
        -1.3722344636917114,
        1.8884142637252808,
        -2.300445795059204,
        -1.251722812652588,
        -3.421901226043701,
        0.996684730052948,
        0.5945374965667725,
        -0.12133464962244034,
        0.07205666601657867,
        0.17496389150619507,
        0.9558743238449097,
        0.2359921932220459,
        0.9267301559448242,
        -0.24083033204078674,
        0.2883959412574768
      ],
      "bottle_position_world": [
        0.15307198464870453,
        -0.20471325516700745,
        0.8068532943725586
      ],
      "bottle_quaternion_world": [
        0.39224064350128174,
        0.6985287666320801,
        0.10968872904777527,
        -0.5883648991584778
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.4,
      "clearance_m": -0.00019127130508422852,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18497490882873535,
      "action": [
        -0.19086091220378876,
        -0.2057935893535614,
        0.0046463049948215485,
        -0.8959733843803406,
        -0.26043739914894104,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6736984252929688,
        -1.374251365661621,
        1.8911526203155518,
        -2.3040897846221924,
        -1.255531668663025,
        -3.4326391220092773,
        0.9966839551925659,
        0.5938498377799988,
        -0.12207386642694473,
        0.07208980619907379,
        0.16558824479579926,
        0.9593608975410461,
        0.22848939895629883,
        0.9281960129737854,
        -0.22989195585250854,
        0.2925780415534973
      ],
      "bottle_position_world": [
        0.15362730622291565,
        -0.20531772077083588,
        0.8068497180938721
      ],
      "bottle_quaternion_world": [
        0.3790295720100403,
        0.6959107518196106,
        0.12523174285888672,
        -0.5969604849815369
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.450000000000001,
      "clearance_m": -0.00018197298049926758,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18509824573993683,
      "action": [
        -0.19046081602573395,
        -0.20536628365516663,
        0.001573655754327774,
        -0.8833897709846497,
        -0.2610352337360382,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6736981868743896,
        -1.3762750625610352,
        1.8939768075942993,
        -2.3078453540802,
        -1.259273886680603,
        -3.443617582321167,
        0.9966824054718018,
        0.5931538939476013,
        -0.12282243371009827,
        0.0721115693449974,
        0.1560119390487671,
        0.9627379179000854,
        0.22089892625808716,
        0.92957603931427,
        -0.21872258186340332,
        0.29673099517822266
      ],
      "bottle_position_world": [
        0.1541881114244461,
        -0.20592692494392395,
        0.8068579435348511
      ],
      "bottle_quaternion_world": [
        0.3655203580856323,
        0.6929041147232056,
        0.14084447920322418,
        -0.6053441762924194
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.5,
      "clearance_m": -0.00019854307174682617,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18524064123630524,
      "action": [
        -0.19038529694080353,
        -0.20497024059295654,
        0.0001119561493396759,
        -0.8698676228523254,
        -0.2656174302101135,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6737632751464844,
        -1.378193736076355,
        1.8967381715774536,
        -2.3115081787109375,
        -1.262697458267212,
        -3.454174757003784,
        0.9966801404953003,
        0.5924896001815796,
        -0.12353554368019104,
        0.07212112843990326,
        0.14681769907474518,
        0.9658036828041077,
        0.2137015461921692,
        0.9307809472084045,
        -0.20801326632499695,
        0.3006287217140198
      ],
      "bottle_position_world": [
        0.15475472807884216,
        -0.2065393477678299,
        0.8068512678146362
      ],
      "bottle_quaternion_world": [
        0.3517434895038605,
        0.6894806027412415,
        0.15649215877056122,
        -0.6135171055793762
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.55,
      "clearance_m": -0.00019174814224243164,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18538010120391846,
      "action": [
        -0.19940020143985748,
        -0.20648407936096191,
        0.010908413678407669,
        -0.8683886528015137,
        -0.2408754825592041,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6738224029541016,
        -1.3802051544189453,
        1.8994261026382446,
        -2.3149101734161377,
        -1.266271948814392,
        -3.464998960494995,
        0.9966779351234436,
        0.5917814373970032,
        -0.12426675111055374,
        0.0721718966960907,
        0.13743796944618225,
        0.968795657157898,
        0.20626679062843323,
        0.9319714903831482,
        -0.19700898230075836,
        0.3043299913406372
      ],
      "bottle_position_world": [
        0.15532325208187103,
        -0.20715931057929993,
        0.8068528771400452
      ],
      "bottle_quaternion_world": [
        0.3376334309577942,
        0.6857402920722961,
        0.172202467918396,
        -0.6213778257369995
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.600000000000001,
      "clearance_m": -0.00017821788787841797,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18551979959011078,
      "action": [
        -0.19815252721309662,
        -0.20814111828804016,
        0.00480617955327034,
        -0.8606367111206055,
        -0.231387197971344,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6739001274108887,
        -1.3821837902069092,
        1.9021220207214355,
        -2.3183319568634033,
        -1.2698702812194824,
        -3.4760518074035645,
        0.9966769814491272,
        0.5910674929618835,
        -0.12501567602157593,
        0.07220479846000671,
        0.12787777185440063,
        0.9716832637786865,
        0.19869279861450195,
        0.9330996870994568,
        -0.18576496839523315,
        0.3079225718975067
      ],
      "bottle_position_world": [
        0.15589405596256256,
        -0.20778730511665344,
        0.8068597316741943
      ],
      "bottle_quaternion_world": [
        0.32318711280822754,
        0.6816755533218384,
        0.18798121809959412,
        -0.6289131045341492
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.65,
      "clearance_m": -0.00019019842147827148,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18567395210266113,
      "action": [
        -0.1978248804807663,
        -0.2079397439956665,
        0.0016334094107151031,
        -0.8484941124916077,
        -0.2324485182762146,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6740338802337646,
        -1.384169340133667,
        1.904904842376709,
        -2.321864366531372,
        -1.273395299911499,
        -3.4873499870300293,
        0.9966757893562317,
        0.5903443694114685,
        -0.1257748305797577,
        0.07222574949264526,
        0.11811868846416473,
        0.9744495749473572,
        0.19103984534740448,
        0.9341310262680054,
        -0.17429684102535248,
        0.31148022413253784
      ],
      "bottle_position_world": [
        0.15647472441196442,
        -0.2084149718284607,
        0.806856095790863
      ],
      "bottle_quaternion_world": [
        0.3085271120071411,
        0.6770738959312439,
        0.20373840630054474,
        -0.6362960338592529
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.700000000000001,
      "clearance_m": -0.00018852949142456055,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18582986295223236,
      "action": [
        -0.1972544640302658,
        -0.20713341236114502,
        -0.0002925954759120941,
        -0.8356850147247314,
        -0.23765558004379272,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6742234230041504,
        -1.3860502243041992,
        1.9076290130615234,
        -2.3253259658813477,
        -1.2766101360321045,
        -3.4982056617736816,
        0.9966734647750854,
        0.5896557569503784,
        -0.126495823264122,
        0.07223325222730637,
        0.10875321179628372,
        0.9769312143325806,
        0.18378868699073792,
        0.9349969029426575,
        -0.16331124305725098,
        0.3148176372051239
      ],
      "bottle_position_world": [
        0.1570580154657364,
        -0.20904898643493652,
        0.8068559765815735
      ],
      "bottle_quaternion_world": [
        0.29356616735458374,
        0.6721131801605225,
        0.21951521933078766,
        -0.6433475017547607
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.75,
      "clearance_m": -0.00017708539962768555,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1859879046678543,
      "action": [
        -0.20649917423725128,
        -0.208342045545578,
        0.0108281709253788,
        -0.8342016339302063,
        -0.21379715204238892,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.674412250518799,
        -1.3880285024642944,
        1.9102810621261597,
        -2.328519344329834,
        -1.2799681425094604,
        -3.509331464767456,
        0.9966714978218079,
        0.5889216661453247,
        -0.12723517417907715,
        0.07228261977434158,
        0.0992007777094841,
        0.9793218970298767,
        0.17631781101226807,
        0.9358393549919128,
        -0.15203920006752014,
        0.3179447054862976
      ],
      "bottle_position_world": [
        0.1576438844203949,
        -0.2096894234418869,
        0.8068591356277466
      ],
      "bottle_quaternion_world": [
        0.2783101499080658,
        0.6667876839637756,
        0.23530612885951996,
        -0.6500528454780579
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.8,
      "clearance_m": -0.00018578767776489258,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18615369498729706,
      "action": [
        -0.2051822692155838,
        -0.2100163996219635,
        0.004412520676851273,
        -0.8269417881965637,
        -0.20471733808517456,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.67462158203125,
        -1.3899729251861572,
        1.9129408597946167,
        -2.3317320346832275,
        -1.2833470106124878,
        -3.5206878185272217,
        0.9966710805892944,
        0.5881816744804382,
        -0.12799189984798431,
        0.07231336086988449,
        0.08946741372346878,
        0.9815957546234131,
        0.16871750354766846,
        0.9366100430488586,
        -0.1405332386493683,
        0.3209550082683563
      ],
      "bottle_position_world": [
        0.15823692083358765,
        -0.21033310890197754,
        0.8068594932556152
      ],
      "bottle_quaternion_world": [
        0.26279592514038086,
        0.6609871983528137,
        0.25107499957084656,
        -0.6565026640892029
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.850000000000001,
      "clearance_m": -0.00019538402557373047,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18633078038692474,
      "action": [
        -0.20421727001667023,
        -0.2098400890827179,
        0.0008230991661548615,
        -0.815421462059021,
        -0.2062479853630066,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6748874187469482,
        -1.3919178247451782,
        1.9156852960586548,
        -2.3350601196289062,
        -1.2866483926773071,
        -3.5322868824005127,
        0.9966698288917542,
        0.5874344706535339,
        -0.12875859439373016,
        0.07232969999313354,
        0.07953949272632599,
        0.9837367534637451,
        0.16104647517204285,
        0.9372726082801819,
        -0.12881219387054443,
        0.32392552495002747
      ],
      "bottle_position_world": [
        0.1588364988565445,
        -0.21098245680332184,
        0.8068539500236511
      ],
      "bottle_quaternion_world": [
        0.24698421359062195,
        0.6547331809997559,
        0.266846626996994,
        -0.6626583933830261
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.9,
      "clearance_m": -0.00018280744552612305,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18650685250759125,
      "action": [
        -0.20353706181049347,
        -0.2090117633342743,
        -0.0010251812636852264,
        -0.8033945560455322,
        -0.21203172206878662,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.675203323364258,
        -1.3937619924545288,
        1.9183735847473145,
        -2.33833384513855,
        -1.2896488904953003,
        -3.543515205383301,
        0.9966688752174377,
        0.586723804473877,
        -0.12948672473430634,
        0.07233384251594543,
        0.06993459165096283,
        0.98563152551651,
        0.15375253558158875,
        0.9377856850624084,
        -0.11750709265470505,
        0.326726496219635
      ],
      "bottle_position_world": [
        0.15943805873394012,
        -0.21164047718048096,
        0.8068556189537048
      ],
      "bottle_quaternion_world": [
        0.2308603972196579,
        0.6481214761734009,
        0.2826326787471771,
        -0.6684017777442932
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 13.950000000000001,
      "clearance_m": -0.00018703937530517578,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18668566644191742,
      "action": [
        -0.2117399424314499,
        -0.21068018674850464,
        0.00936615839600563,
        -0.8017099499702454,
        -0.1918179988861084,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6755306720733643,
        -1.3956996202468872,
        1.9210046529769897,
        -2.3413755893707275,
        -1.2927676439285278,
        -3.554924964904785,
        0.9966673254966736,
        0.5859709978103638,
        -0.13023538887500763,
        0.07237724214792252,
        0.060226328670978546,
        0.9874066114425659,
        0.14629201591014862,
        0.9382492899894714,
        -0.10601861774921417,
        0.3293150067329407
      ],
      "bottle_position_world": [
        0.1600465178489685,
        -0.2123013287782669,
        0.8068597912788391
      ],
      "bottle_quaternion_world": [
        0.21449780464172363,
        0.6410186886787415,
        0.29834771156311035,
        -0.6738505363464355
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.0,
      "clearance_m": -0.0001844167709350586,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18687623739242554,
      "action": [
        -0.21174465119838715,
        -0.21174705028533936,
        0.004176009446382523,
        -0.7952226996421814,
        -0.1819745898246765,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6758790016174316,
        -1.3976168632507324,
        1.9236421585083008,
        -2.3444113731384277,
        -1.2959119081497192,
        -3.5665698051452637,
        0.9966663122177124,
        0.5852067470550537,
        -0.13099974393844604,
        0.07240545004606247,
        0.05033773183822632,
        0.9890533089637756,
        0.13870862126350403,
        0.9386358261108398,
        -0.094300277531147,
        0.33176878094673157
      ],
      "bottle_position_world": [
        0.160658061504364,
        -0.21296833455562592,
        0.8068577647209167
      ],
      "bottle_quaternion_world": [
        0.1978750377893448,
        0.633512020111084,
        0.3140137493610382,
        -0.6788987517356873
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.05,
      "clearance_m": -0.00019234418869018555,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18707571923732758,
      "action": [
        -0.21089522540569305,
        -0.21144655346870422,
        2.1342188119888306e-05,
        -0.7845664620399475,
        -0.1829485297203064,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6762826442718506,
        -1.3995332717895508,
        1.9263615608215332,
        -2.347557783126831,
        -1.2989825010299683,
        -3.57853364944458,
        0.9966660737991333,
        0.5844346880912781,
        -0.13177341222763062,
        0.07241810858249664,
        0.04018652066588402,
        0.9905634522438049,
        0.13103091716766357,
        0.9389079809188843,
        -0.08229649066925049,
        0.33418405055999756
      ],
      "bottle_position_world": [
        0.1612759530544281,
        -0.21363970637321472,
        0.8068523406982422
      ],
      "bottle_quaternion_world": [
        0.18100126087665558,
        0.625526487827301,
        0.3296050727367401,
        -0.6836050152778625
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.100000000000001,
      "clearance_m": -0.0001958608627319336,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1872764229774475,
      "action": [
        -0.20899330079555511,
        -0.2113070785999298,
        -0.003120552748441696,
        -0.7727628350257874,
        -0.19114556908607483,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.676737070083618,
        -1.4013410806655884,
        1.929036259651184,
        -2.3506946563720703,
        -1.3017476797103882,
        -3.590027332305908,
        0.9966654777526855,
        0.5837045907974243,
        -0.13251028954982758,
        0.07241430878639221,
        0.03045080229640007,
        0.9918441772460938,
        0.12376651167869568,
        0.9390297532081604,
        -0.0708148330450058,
        0.3364647626876831
      ],
      "bottle_position_world": [
        0.16189904510974884,
        -0.21431554853916168,
        0.8068515062332153
      ],
      "bottle_quaternion_world": [
        0.1638922244310379,
        0.6170781850814819,
        0.34509921073913574,
        -0.6879393458366394
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.15,
      "clearance_m": -0.00018274784088134766,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1874794214963913,
      "action": [
        -0.21825425326824188,
        -0.21199068427085876,
        0.00897480919957161,
        -0.7713481187820435,
        -0.17027077078819275,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.677201271057129,
        -1.4032566547393799,
        1.931647539138794,
        -2.353567361831665,
        -1.3046334981918335,
        -3.6017985343933105,
        0.9966643452644348,
        0.5829282402992249,
        -0.13326449692249298,
        0.072455033659935,
        0.02052146941423416,
        0.9930000305175781,
        0.11631809175014496,
        0.9391015768051147,
        -0.05906188115477562,
        0.33852604031562805
      ],
      "bottle_position_world": [
        0.16252146661281586,
        -0.21499952673912048,
        0.8068546056747437
      ],
      "bottle_quaternion_world": [
        0.1465497761964798,
        0.6082938313484192,
        0.36053016781806946,
        -0.69175124168396
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.200000000000001,
      "clearance_m": -0.00018388032913208008,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18769307434558868,
      "action": [
        -0.21705250442028046,
        -0.2136179506778717,
        0.002218250185251236,
        -0.7653220295906067,
        -0.1625119149684906,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.67769193649292,
        -1.405139684677124,
        1.934273600578308,
        -2.356466770172119,
        -1.3075315952301025,
        -3.613795518875122,
        0.9966644644737244,
        0.582144558429718,
        -0.13403601944446564,
        0.07247554510831833,
        0.010422534309327602,
        0.9940133690834045,
        0.10876234620809555,
        0.9390790462493896,
        -0.047098707407712936,
        0.3404594361782074
      ],
      "bottle_position_world": [
        0.16315197944641113,
        -0.21568386256694794,
        0.8068519830703735
      ],
      "bottle_quaternion_world": [
        0.1290341317653656,
        0.5989712476730347,
        0.3757689297199249,
        -0.6952563524246216
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.25,
      "clearance_m": -0.00018543004989624023,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18790565431118011,
      "action": [
        -0.21602021157741547,
        -0.21332192420959473,
        -0.00173906609416008,
        -0.7551568150520325,
        -0.16475477814674377,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.67824387550354,
        -1.4070239067077637,
        1.9369864463806152,
        -2.3594870567321777,
        -1.3103463649749756,
        -3.6260313987731934,
        0.9966639280319214,
        0.5813533067703247,
        -0.1348176747560501,
        0.0724804550409317,
        0.0001431414857506752,
        0.9948716759681702,
        0.10114704072475433,
        0.9389232397079468,
        -0.03494112193584442,
        0.3423483967781067
      ],
      "bottle_position_world": [
        0.16378743946552277,
        -0.21637417376041412,
        0.8068568706512451
      ],
      "bottle_quaternion_world": [
        0.1112847700715065,
        0.5891910195350647,
        0.3908964991569519,
        -0.6983334422111511
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.3,
      "clearance_m": -0.00019162893295288086,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18813695013523102,
      "action": [
        -0.21524523198604584,
        -0.21277067065238953,
        -0.0037372075021266937,
        -0.7443632483482361,
        -0.17096659541130066,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6788337230682373,
        -1.4088114500045776,
        1.9396435022354126,
        -2.3624703884124756,
        -1.3128825426101685,
        -3.6377813816070557,
        0.996663510799408,
        0.5806012749671936,
        -0.13556039333343506,
        0.07247373461723328,
        -0.009706882759928703,
        0.9955306649208069,
        0.09393903613090515,
        0.9386376738548279,
        -0.023318860679864883,
        0.34411555528640747
      ],
      "bottle_position_world": [
        0.1644255518913269,
        -0.217071071267128,
        0.8068488836288452
      ],
      "bottle_quaternion_world": [
        0.0933292955160141,
        0.5789945721626282,
        0.405902624130249,
        -0.7009265422821045
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.350000000000001,
      "clearance_m": -0.00018966197967529297,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1883593648672104,
      "action": [
        -0.22460518777370453,
        -0.2128005027770996,
        0.00818685069680214,
        -0.7433238625526428,
        -0.14923745393753052,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.679429531097412,
        -1.4107060432434082,
        1.94222891330719,
        -2.365171194076538,
        -1.3155452013015747,
        -3.649806022644043,
        0.9966621994972229,
        0.5798020958900452,
        -0.13631853461265564,
        0.07251112163066864,
        -0.019749028608202934,
        0.9960507750511169,
        0.08656124770641327,
        0.9382969737052917,
        -0.011433864012360573,
        0.34564146399497986
      ],
      "bottle_position_world": [
        0.16506966948509216,
        -0.21776960790157318,
        0.8068557381629944
      ],
      "bottle_quaternion_world": [
        0.07521713525056839,
        0.5683032274246216,
        0.420688658952713,
        -0.7031322121620178
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.4,
      "clearance_m": -0.0001735687255859375,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18858309090137482,
      "action": [
        -0.2229837030172348,
        -0.2149505317211151,
        0.001003999263048172,
        -0.7378068566322327,
        -0.14081165194511414,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6800525188446045,
        -1.4125593900680542,
        1.9448171854019165,
        -2.3678853511810303,
        -1.318224549293518,
        -3.6620571613311768,
        0.996662437915802,
        0.5789965987205505,
        -0.13709639012813568,
        0.07252632081508636,
        -0.029955923557281494,
        0.9964178204536438,
        0.07908523827791214,
        0.9378558993339539,
        0.0006521705072373152,
        0.34702444076538086
      ],
      "bottle_position_world": [
        0.16571864485740662,
        -0.21847747266292572,
        0.8068687915802002
      ],
      "bottle_quaternion_world": [
        0.056856077164411545,
        0.5571577548980713,
        0.4353787899017334,
        -0.7048318386077881
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.450000000000001,
      "clearance_m": -0.00020867586135864258,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1888996958732605,
      "action": [
        -0.222074493765831,
        -0.21544098854064941,
        -0.002720724791288376,
        -0.7281837463378906,
        -0.1429084837436676,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6807427406311035,
        -1.414413332939148,
        1.9474858045578003,
        -2.3707101345062256,
        -1.3208194971084595,
        -3.674553871154785,
        0.9966622591018677,
        0.5781826972961426,
        -0.1378871500492096,
        0.07252693921327591,
        -0.0403384268283844,
        0.9966207146644592,
        0.07155542820692062,
        0.9372729063034058,
        0.012924954295158386,
        0.34835705161094666
      ],
      "bottle_position_world": [
        0.1664746254682541,
        -0.21929901838302612,
        0.8068310618400574
      ],
      "bottle_quaternion_world": [
        0.03543243557214737,
        0.5436868667602539,
        0.45207563042640686,
        -0.7062413096427917
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.5,
      "clearance_m": -0.0003330707550048828,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.18944448232650757,
      "action": [
        -0.22735629975795746,
        -0.2178519368171692,
        -0.004055943340063095,
        -0.7191058397293091,
        -0.14999189972877502,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6815011501312256,
        -1.4162176847457886,
        1.9501471519470215,
        -2.373511791229248,
        -1.3231420516967773,
        -3.686579704284668,
        0.9966609477996826,
        0.5773887634277344,
        -0.13864852488040924,
        0.07251875847578049,
        -0.05027245357632637,
        0.9966557025909424,
        0.06442393362522125,
        0.9365732073783875,
        0.024643324315547943,
        0.3496048152446747
      ],
      "bottle_position_world": [
        0.16757729649543762,
        -0.22049465775489807,
        0.8067002296447754
      ],
      "bottle_quaternion_world": [
        0.004030648153275251,
        0.5230980515480042,
        0.47570425271987915,
        -0.7071475982666016
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.55,
      "clearance_m": -0.0006321072578430176,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.19035200774669647,
      "action": [
        -0.2641081213951111,
        -0.2322807013988495,
        0.012607622891664505,
        -0.7215434908866882,
        -0.1317792534828186,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.682452917098999,
        -1.4183393716812134,
        1.9529407024383545,
        -2.376014232635498,
        -1.325546383857727,
        -3.699047088623047,
        0.9966579079627991,
        0.5764502882957458,
        -0.13947637379169464,
        0.07257109135389328,
        -0.0603804774582386,
        0.9965398907661438,
        0.05711892619729042,
        0.9357999563217163,
        0.036603301763534546,
        0.3506263196468353
      ],
      "bottle_position_world": [
        0.16915708780288696,
        -0.2222202569246292,
        0.8064061999320984
      ],
      "bottle_quaternion_world": [
        -0.041511017829179764,
        0.4915759563446045,
        0.5083892941474915,
        -0.7058118581771851
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.600000000000001,
      "clearance_m": -0.0008899569511413574,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1913570761680603,
      "action": [
        -0.31796860694885254,
        -0.26154395937919617,
        0.009935829788446426,
        -0.7227829694747925,
        -0.13025328516960144,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6838130950927734,
        -1.4208427667617798,
        1.9561991691589355,
        -2.3785643577575684,
        -1.3278740644454956,
        -3.712078094482422,
        0.9966536164283752,
        0.5753032565116882,
        -0.14042313396930695,
        0.07261941581964493,
        -0.07061222195625305,
        0.9962659478187561,
        0.04968217760324478,
        0.9348968863487244,
        0.04873092845082283,
        0.3515583872795105
      ],
      "bottle_position_world": [
        0.170976921916008,
        -0.2242049127817154,
        0.8061410784721375
      ],
      "bottle_quaternion_world": [
        -0.09382417052984238,
        0.45249655842781067,
        0.5435553193092346,
        -0.7007079124450684
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.65,
      "clearance_m": -0.0007873177528381348,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.19202400743961334,
      "action": [
        -0.3818163275718689,
        -0.29652053117752075,
        0.007567171007394791,
        -0.717758297920227,
        -0.1405731439590454,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.685737133026123,
        -1.423829436302185,
        1.9600982666015625,
        -2.3812825679779053,
        -1.3299692869186401,
        -3.725804090499878,
        0.9966476559638977,
        0.5739043354988098,
        -0.14151416718959808,
        0.07266108691692352,
        -0.08098069578409195,
        0.9958238005638123,
        0.04216177016496658,
        0.9338159561157227,
        0.06101332977414131,
        0.35251298546791077
      ],
      "bottle_position_world": [
        0.1728120893239975,
        -0.22618368268013,
        0.8062669634819031
      ],
      "bottle_quaternion_world": [
        -0.1458352655172348,
        0.41057804226875305,
        0.5755826830863953,
        -0.6919988989830017
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.700000000000001,
      "clearance_m": -0.0006566643714904785,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.19274216890335083,
      "action": [
        -0.43650156259536743,
        -0.3412950336933136,
        0.010657448321580887,
        -0.705737292766571,
        -0.15134191513061523,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.688135862350464,
        -1.4270124435424805,
        1.9642243385314941,
        -2.383889675140381,
        -1.331644058227539,
        -3.739450454711914,
        0.9966422915458679,
        0.5723830461502075,
        -0.1427062451839447,
        0.07270621508359909,
        -0.09089775383472443,
        0.9952430725097656,
        0.03506341949105263,
        0.9326271414756775,
        0.07272695749998093,
        0.35343730449676514
      ],
      "bottle_position_world": [
        0.17464090883731842,
        -0.22818584740161896,
        0.8063825964927673
      ],
      "bottle_quaternion_world": [
        -0.19703538715839386,
        0.36655107140541077,
        0.6047742962837219,
        -0.6790180206298828
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.75,
      "clearance_m": -0.0005384683609008789,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.19349461793899536,
      "action": [
        -0.49067842960357666,
        -0.38347649574279785,
        0.035080570727586746,
        -0.6997974514961243,
        -0.13032633066177368,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6910512447357178,
        -1.4306392669677734,
        1.968492865562439,
        -2.38596510887146,
        -1.3332611322402954,
        -3.7538812160491943,
        0.9966394305229187,
        0.570637047290802,
        -0.14407813549041748,
        0.07284252345561981,
        -0.101020447909832,
        0.9944944381713867,
        0.027853939682245255,
        0.9313601851463318,
        0.08468922227621078,
        0.35411322116851807
      ],
      "bottle_position_world": [
        0.17648908495903015,
        -0.23019085824489594,
        0.806503415107727
      ],
      "bottle_quaternion_world": [
        -0.24731148779392242,
        0.32023051381111145,
        0.6304413080215454,
        -0.6624450087547302
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.8,
      "clearance_m": -0.0004298090934753418,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.19430367648601532,
      "action": [
        -0.5195935964584351,
        -0.4184139668941498,
        0.02641936019062996,
        -0.6926136612892151,
        -0.11870693415403366,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6943676471710205,
        -1.4343870878219604,
        1.9729046821594238,
        -2.387913227081299,
        -1.3347786664962769,
        -3.768885850906372,
        0.9966378211975098,
        0.5687640905380249,
        -0.1455971747636795,
        0.07295532524585724,
        -0.11128228902816772,
        0.993575394153595,
        0.020597530528903008,
        0.929989218711853,
        0.09680920839309692,
        0.35460975766181946
      ],
      "bottle_position_world": [
        0.17834296822547913,
        -0.23221354186534882,
        0.8066084980964661
      ],
      "bottle_quaternion_world": [
        -0.29629579186439514,
        0.27203845977783203,
        0.6527756452560425,
        -0.6419407725334167
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.850000000000001,
      "clearance_m": -0.00029861927032470703,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.19514097273349762,
      "action": [
        -0.5420486927032471,
        -0.4428769052028656,
        0.018245670944452286,
        -0.6811140775680542,
        -0.11701842397451401,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.6980512142181396,
        -1.4382424354553223,
        1.9775093793869019,
        -2.3898653984069824,
        -1.3361165523529053,
        -3.7844133377075195,
        0.9966376423835754,
        0.5667858123779297,
        -0.14722642302513123,
        0.07303845882415771,
        -0.12169278413057327,
        0.9924783110618591,
        0.013333117589354515,
        0.928475022315979,
        0.10907568782567978,
        0.35501644015312195
      ],
      "bottle_position_world": [
        0.18021224439144135,
        -0.23424799740314484,
        0.806727945804596
      ],
      "bottle_quaternion_world": [
        -0.3438124358654022,
        0.2220836728811264,
        0.6714330911636353,
        -0.6177778244018555
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.9,
      "clearance_m": -0.0002898573875427246,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.19605125486850739,
      "action": [
        -0.559310793876648,
        -0.4614091217517853,
        0.010440398007631302,
        -0.6689167618751526,
        -0.11910911649465561,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.701824903488159,
        -1.4419559240341187,
        1.9820337295532227,
        -2.3917601108551025,
        -1.3371859788894653,
        -3.799508571624756,
        0.9966373443603516,
        0.5648401975631714,
        -0.1488390564918518,
        0.07308493554592133,
        -0.13166379928588867,
        0.9912732243537903,
        0.006489777006208897,
        0.926897406578064,
        0.12078678607940674,
        0.3553476929664612
      ],
      "bottle_position_world": [
        0.1820525825023651,
        -0.23633746802806854,
        0.8068211078643799
      ],
      "bottle_quaternion_world": [
        -0.3889552652835846,
        0.1709296554327011,
        0.6874168515205383,
        -0.5890288352966309
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 14.950000000000001,
      "clearance_m": -0.000689089298248291,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.1972208023071289,
      "action": [
        -0.5893933773040771,
        -0.4793234169483185,
        0.0286497063934803,
        -0.6603407859802246,
        -0.09457048028707504,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7058963775634766,
        -1.4459279775619507,
        1.9865292310714722,
        -2.3931288719177246,
        -1.3382490873336792,
        -3.8151628971099854,
        0.99663907289505,
        0.5627546906471252,
        -0.15054729580879211,
        0.07319708913564682,
        -0.14183609187602997,
        0.9898901581764221,
        -0.0003990810364484787,
        0.9252493381500244,
        0.1327173411846161,
        0.3553866446018219
      ],
      "bottle_position_world": [
        0.1837620735168457,
        -0.23860153555870056,
        0.8067098259925842
      ],
      "bottle_quaternion_world": [
        -0.4297775626182556,
        0.11876823753118515,
        0.7036367654800415,
        -0.5532456040382385
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    },
    {
      "t_s": 15.0,
      "clearance_m": -0.0029492974281311035,
      "hold_s": 0.0,
      "success": false,
      "goal_error_m": 0.19936971366405487,
      "action": [
        -0.613222599029541,
        -0.4738406240940094,
        0.005723241716623306,
        -0.6532090306282043,
        -0.0853925570845604,
        1.0,
        1.0
      ],
      "proprioception": [
        -3.7101266384124756,
        -1.4500157833099365,
        1.9913312196731567,
        -2.394606113433838,
        -1.3392678499221802,
        -3.8311593532562256,
        0.9966408610343933,
        0.560555636882782,
        -0.1522616595029831,
        0.07323426008224487,
        -0.15215735137462616,
        0.9883294105529785,
        -0.007322433404624462,
        0.9234822988510132,
        0.14480598270893097,
        0.35526347160339355
      ],
      "bottle_position_world": [
        0.18496456742286682,
        -0.2418234795331955,
        0.8058305978775024
      ],
      "bottle_quaternion_world": [
        -0.4599165618419647,
        0.06047925353050232,
        0.7359194159507751,
        -0.4931953549385071
      ],
      "bilateral": false,
      "ever_bad_contact": true,
      "max_penetration_m": 0.0034548044204711914
    }
  ],
  "rate_denominator": false
}