{
  "mode": "pick",
  "dt": 0.002,
  "duration": 15.0,
  "bottle_initial": [
    0.28,
    0.0,
    0.05144146
  ],
  "dofs": [
    "joint1",
    "joint2",
    "joint3",
    "joint4",
    "joint5",
    "joint6",
    "left_finger",
    "right_finger"
  ],
  "kp": [
    400,
    400,
    300,
    80,
    30,
    15,
    110,
    110
  ],
  "kd": [
    20,
    25,
    20,
    5,
    2,
    1,
    20,
    20
  ],
  "effort_limits": [
    28,
    28,
    28,
    10,
    10,
    10,
    19.014,
    19.014
  ],
  "fk_errors_m": {
    "arm": 2.2351741811588166e-10,
    "link_1": 6.198883073516015e-10,
    "link_2": 2.689342154957433e-09,
    "link_3": 2.4823952883471414e-08,
    "link_4": 5.1375007626523637e-08,
    "link_5": 7.440898976190274e-08,
    "link_6": 7.165393091684319e-08,
    "link_left_finger": 9.548542072702251e-08,
    "link_right_finger": 8.862977753379849e-08
  },
  "gravity": [
    0,
    0,
    -9.81
  ],
  "bottle_mass_kg": 0.08,
  "limitations": [
    "scripted state-based IK, not a trained policy",
    "symmetric independent finger drives replace MuJoCo equality coupling",
    "PD gains differ from MJLab; no equivalent-policy performance claim"
  ],
  "waypoints": [
    {
      "t": 0.0,
      "q": [
        0.0,
        1.0470000505447388,
        1.0499999523162842,
        -0.8999999761581421,
        0.0,
        0.0,
        0.03750000149011612,
        -0.03750000149011612
      ]
    },
    {
      "t": 1.0,
      "q": [
        0.0,
        1.0470000505447388,
        1.0499999523162842,
        -0.8999999761581421,
        0.0,
        0.0,
        0.03750000149011612,
        -0.03750000149011612
      ]
    },
    {
      "t": 3.0,
      "q": [
        -1.3244318142202616e-10,
        1.7257726192474365,
        1.7496830224990845,
        -1.5707999467849731,
        -2.42453224164052e-10,
        -1.7822984754722881e-10,
        0.03750000149011612,
        -0.03750000149011612
      ]
    },
    {
      "t": 5.0,
      "q": [
        7.974728732175832e-21,
        1.7800488471984863,
        1.1697615385055542,
        -0.9605089426040649,
        1.401142081012085e-23,
        7.971613880181687e-21,
        0.03750000149011612,
        -0.03750000149011612
      ]
    },
    {
      "t": 7.0,
      "q": [
        7.974728732175832e-21,
        1.7800488471984863,
        1.1697615385055542,
        -0.9605089426040649,
        1.401142081012085e-23,
        7.971613880181687e-21,
        0.0,
        0.0
      ]
    },
    {
      "t": 9.0,
      "q": [
        -2.5838289841040307e-10,
        1.7257726192474365,
        1.7496830224990845,
        -1.5707999467849731,
        -5.132145264319377e-10,
        -2.639707064044927e-10,
        0.0,
        0.0
      ]
    },
    {
      "t": 11.0,
      "q": [
        -2.5838289841040307e-10,
        1.7257726192474365,
        1.7496830224990845,
        -1.5707999467849731,
        -5.132145264319377e-10,
        -2.639707064044927e-10,
        0.0,
        0.0
      ]
    },
    {
      "t": 13.0,
      "q": [
        -2.5838289841040307e-10,
        1.7257726192474365,
        1.7496830224990845,
        -1.5707999467849731,
        -5.132145264319377e-10,
        -2.639707064044927e-10,
        0.03750000149011612,
        -0.03750000149011612
      ]
    },
    {
      "t": 15.0,
      "q": [
        -2.5838289841040307e-10,
        1.7257726192474365,
        1.7496830224990845,
        -1.5707999467849731,
        -5.132145264319377e-10,
        -2.639707064044927e-10,
        0.03750000149011612,
        -0.03750000149011612
      ]
    }
  ]
}