[{"t": 0.002, "phase": "settle", "bottle_xyz": [0.2800000011920929, 0.0, 0.051402222365140915], "bottle_quat_xyzw": [0.0, 0.0, 0.0, 1.0], "bottom_z": 0.0019607623651409153, "q": [-8.809204032900197e-09, 1.047026515007019, 1.0499598979949951, -0.9000452160835266, -4.29159655368494e-07, 1.4762183297989395e-07, 0.03749999776482582, -0.03750000521540642], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35350102186203003, 0.6124026775360107, 0.6124026775360107, -0.35350099205970764]}, "link_3": {"xyz": [-0.11203909665346146, 2.500973641872406e-05, 0.34260812401771545], "quat_xyzw": [0.0010371117386966944, 0.7071059942245483, -0.7071060538291931, 0.00103713758289814]}, "link_4": {"xyz": [0.13278385996818542, 2.5024637579917908e-05, 0.4033265709877014], "quat_xyzw": [-0.30664727091789246, 0.6371557712554932, -0.6371558308601379, -0.30664730072021484]}, "link_5": {"xyz": [0.20982061326503754, 2.7939677238464355e-08, 0.3701363205909729], "quat_xyzw": [0.6371555924415588, 0.6371558904647827, -0.30664724111557007, -0.30664730072021484]}, "link_6": {"xyz": [0.20097285509109497, 4.0046870708465576e-08, 0.3179055154323578], "quat_xyzw": [0.6673694849014282, 0.667369544506073, 0.23370493948459625, 0.23370465636253357]}, "link_left_finger": {"xyz": [0.26935288310050964, 0.0005000531673431396, 0.29507875442504883], "quat_xyzw": [0.3066471517086029, 0.6371557116508484, 0.6371558904647827, -0.306647390127182]}, "link_right_finger": {"xyz": [0.20808106660842896, -0.0004999265074729919, 0.2461673617362976], "quat_xyzw": [0.3066471517086029, 0.6371557116508484, 0.6371558904647827, -0.306647390127182]}}}, {"t": 0.022, "phase": "settle", "bottle_xyz": [0.2800000011920929, 2.7854869561090567e-13, 0.04898383095860481], "bottle_quat_xyzw": [-5.077558599270171e-12, -5.637239806899341e-12, 1.5467269328370069e-19, 1.0], "bottom_z": -0.00045762904165325136, "q": [-7.909386567916954e-08, 1.0476603507995605, 1.0487027168273926, -0.9014373421669006, -4.739956693811109e-06, 6.04308524998487e-06, 0.037499893456697464, -0.03750007227063179], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 1.548531174659729], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3536950945854187, 0.612290620803833, 0.612290620803833, -0.3536950647830963]}, "link_3": {"xyz": [-0.11189419776201248, 2.500973641872406e-05, 0.3426917791366577], "quat_xyzw": [0.00036851238110102713, 0.7071066498756409, -0.7071067094802856, 0.00036854646168649197]}, "link_4": {"xyz": [0.133043110370636, 2.5024637579917908e-05, 0.4029471278190613], "quat_xyzw": [-0.30769282579421997, 0.6366514563560486, -0.6366515159606934, -0.30769282579421997]}, "link_5": {"xyz": [0.20997045934200287, 2.7939677238464355e-08, 0.3695041537284851], "quat_xyzw": [0.6366499662399292, 0.6366530060768127, -0.30769211053848267, -0.3076935410499573]}, "link_6": {"xyz": [0.20095126330852509, 2.0023435354232788e-07, 0.3173026740550995], "quat_xyzw": [0.6677537560462952, 0.6677508354187012, 0.23261119425296783, 0.23260663449764252]}, "link_left_finger": {"xyz": [0.26925596594810486, 0.0005001425743103027, 0.29425153136253357], "quat_xyzw": [0.3076922595500946, 0.6366488933563232, 0.6366541981697083, -0.3076934516429901]}, "link_right_finger": {"xyz": [0.20782391726970673, -0.0004993453621864319, 0.2455415278673172], "quat_xyzw": [0.3076922595500946, 0.6366488933563232, 0.6366541981697083, -0.3076934516429901]}}}, {"t": 0.042, "phase": "settle", "bottle_xyz": [0.2800000011920929, 1.2025180330665908e-11, 0.04954484477639198], "bottle_quat_xyzw": [-1.243926905925008e-10, -3.0728027761162124e-11, 2.654687490273836e-18, 1.0], "bottom_z": 0.0001033847720336295, "q": [-2.7123638446369114e-08, 1.0481390953063965, 1.0476207733154297, -0.9026290774345398, -7.081159310473595e-06, 1.1536038073245436e-05, 0.03749978169798851, -0.037500131875276566], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.1433960348367691], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3538416624069214, 0.612205982208252, 0.612205982208252, -0.3538416624069214]}, "link_3": {"xyz": [-0.11178473383188248, 2.5002285838127136e-05, 0.34275493025779724], "quat_xyzw": [-0.00018328592705074698, 0.7071067690849304, -0.7071067690849304, -0.00018323035328648984]}, "link_4": {"xyz": [0.13324636220932007, 2.5020912289619446e-05, 0.40262794494628906], "quat_xyzw": [-0.30856871604919434, 0.6362274885177612, -0.6362274885177612, -0.30856865644454956]}, "link_5": {"xyz": [0.21008138358592987, 3.166496753692627e-08, 0.36897334456443787], "quat_xyzw": [0.6362252235412598, 0.6362297534942627, -0.308567613363266, -0.3085697889328003]}, "link_6": {"xyz": [0.2009185254573822, 2.738088369369507e-07, 0.3167968988418579], "quat_xyzw": [0.6680748462677002, 0.6680687665939331, 0.23169347643852234, 0.2316860556602478]}, "link_left_finger": {"xyz": [0.26915955543518066, 0.0005000382661819458, 0.2935578227043152], "quat_xyzw": [0.30856820940971375, 0.6362227201461792, 0.6362322568893433, -0.30856916308403015]}, "link_right_finger": {"xyz": [0.2075936496257782, -0.0004989802837371826, 0.24501711130142212], "quat_xyzw": [0.30856820940971375, 0.6362227201461792, 0.6362322568893433, -0.30856916308403015]}}}, {"t": 0.062, "phase": "settle", "bottle_xyz": [0.2800000011920929, 2.4180856969535647e-11, 0.0490066222846508], "bottle_quat_xyzw": [-2.4732901837687393e-10, -9.95088039745795e-12, 4.0595956512571216e-19, 1.0], "bottom_z": -0.0004348377237708423, "q": [-1.0775499958981527e-07, 1.048376202583313, 1.0470627546310425, -0.9032140374183655, -8.002756658243015e-06, 1.4326300515676849e-05, 0.037499669939279556, -0.037500206381082535], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 1.4342104196548462], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.3539142906665802, 0.6121639609336853, 0.6121640205383301, -0.35391417145729065]}, "link_3": {"xyz": [-0.11173046380281448, 2.50302255153656e-05, 0.34278613328933716], "quat_xyzw": [-0.0004643537395168096, 0.7071065902709961, -0.7071066498756409, -0.0004644233558792621]}, "link_4": {"xyz": [0.13334813714027405, 2.501159906387329e-05, 0.40246427059173584], "quat_xyzw": [-0.3090076148509979, 0.6360143423080444, -0.6360144019126892, -0.3090077042579651]}, "link_5": {"xyz": [0.21013663709163666, 0.0, 0.3687036633491516], "quat_xyzw": [0.6360118985176086, 0.6360169053077698, -0.3090064823627472, -0.3090088963508606]}, "link_6": {"xyz": [0.2009017914533615, 2.6635825634002686e-07, 0.3165398836135864], "quat_xyzw": [0.6682353615760803, 0.6682276725769043, 0.2312329262495041, 0.23122437298297882]}, "link_left_finger": {"xyz": [0.26911064982414246, 0.0004998669028282166, 0.29320666193962097], "quat_xyzw": [0.3090073764324188, 0.636008620262146, 0.6360201239585876, -0.3090079724788666]}, "link_right_finger": {"xyz": [0.20747783780097961, -0.0004989057779312134, 0.2447509616613388], "quat_xyzw": [0.3090073764324188, 0.636008620262146, 0.6360201239585876, -0.3090079724788666]}}}, {"t": 0.082, "phase": "settle", "bottle_xyz": [0.2800000011920929, 2.98859409442187e-11, 0.04926116019487381], "bottle_quat_xyzw": [-3.042189000712625e-10, 1.6948352443701964e-11, 1.1133007320738948e-18, 1.0], "bottom_z": -0.0001802998154916413, "q": [-1.6354653098460403e-07, 1.0484809875488281, 1.0468112230300903, -0.903456449508667, -8.53408891998697e-06, 1.5524288755841553e-05, 0.0374995581805706, -0.0375002846121788], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.5527849793434143], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.353946328163147, 0.6121454238891602, 0.6121454238891602, -0.3539462387561798]}, "link_3": {"xyz": [-0.11170644313097, 2.50302255153656e-05, 0.34279993176460266], "quat_xyzw": [-0.0005903205601498485, 0.7071065306663513, -0.7071065902709961, -0.0005903422133997083]}, "link_4": {"xyz": [0.13339346647262573, 2.5033950805664062e-05, 0.4023907780647278], "quat_xyzw": [-0.3091979920864105, 0.635921835899353, -0.6359218955039978, -0.3091980516910553]}, "link_5": {"xyz": [0.2101617455482483, 2.9802322387695312e-08, 0.36858421564102173], "quat_xyzw": [0.6359191536903381, 0.6359245777130127, -0.30919671058654785, -0.30919933319091797]}, "link_6": {"xyz": [0.20089568197727203, 3.241002559661865e-07, 0.31642597913742065], "quat_xyzw": [0.6683049201965332, 0.6682965159416199, 0.2310332953929901, 0.23102402687072754]}, "link_left_finger": {"xyz": [0.26909056305885315, 0.0004997923970222473, 0.29305192828178406], "quat_xyzw": [0.30919772386550903, 0.6359156370162964, 0.6359281539916992, -0.3091983199119568]}, "link_right_finger": {"xyz": [0.20742875337600708, -0.0004988387227058411, 0.24463310837745667], "quat_xyzw": [0.30919772386550903, 0.6359156370162964, 0.6359281539916992, -0.3091983199119568]}}}, {"t": 0.10200000000000001, "phase": "settle", "bottle_xyz": [0.2800000011920929, 4.037732995176846e-11, 0.04914982616901398], "bottle_quat_xyzw": [-4.156202049188096e-10, 5.967431843806326e-12, 8.979122477060083e-18, 1.0], "bottom_z": -0.00029163384513804236, "q": [-8.272083817928433e-08, 1.0485256910324097, 1.0467041730880737, -0.9035452008247375, -9.200042768497951e-06, 1.5993484339560382e-05, 0.03749944642186165, -0.03750035911798477], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.8589459657669067], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3539600074291229, 0.6121375560760498, 0.6121375560760498, -0.3539600074291229]}, "link_3": {"xyz": [-0.1116962805390358, 2.5002285838127136e-05, 0.3428058624267578], "quat_xyzw": [-0.0006440375000238419, 0.7071065306663513, -0.7071065306663513, -0.0006439984426833689]}, "link_4": {"xyz": [0.1334126591682434, 2.5024637579917908e-05, 0.4023594856262207], "quat_xyzw": [-0.3092745542526245, 0.6358846426010132, -0.635884702205658, -0.3092745244503021]}, "link_5": {"xyz": [0.21017280220985413, 2.7939677238464355e-08, 0.3685344457626343], "quat_xyzw": [0.6358817219734192, 0.635887622833252, -0.3092731237411499, -0.30927592515945435]}, "link_6": {"xyz": [0.20089419186115265, 3.4552067518234253e-07, 0.3163784146308899], "quat_xyzw": [0.6683326959609985, 0.6683242321014404, 0.2309531569480896, 0.23094330728054047]}, "link_left_finger": {"xyz": [0.2690834701061249, 0.0004997476935386658, 0.2929879426956177], "quat_xyzw": [0.30927401781082153, 0.6358781456947327, 0.6358911395072937, -0.3092750012874603]}, "link_right_finger": {"xyz": [0.20740997791290283, -0.0004988312721252441, 0.24458402395248413], "quat_xyzw": [0.30927401781082153, 0.6358781456947327, 0.6358911395072937, -0.3092750012874603]}}}, {"t": 0.122, "phase": "settle", "bottle_xyz": [0.2800000011920929, 4.929138347486983e-11, 0.049174629151821136], "bottle_quat_xyzw": [-5.071040254378545e-10, 1.2417518402418892e-11, 1.0815234307898127e-17, 1.0], "bottom_z": -0.00026683086544593976, "q": [-2.4289459332749175e-09, 1.048543930053711, 1.0466586351394653, -0.9035762548446655, -9.76683986664284e-06, 1.6046693417592905e-05, 0.037499357014894485, -0.03750041499733925], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7813188433647156], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3539655804634094, 0.6121343374252319, 0.6121343374252319, -0.3539655804634094]}, "link_3": {"xyz": [-0.11169210821390152, 2.5002285838127136e-05, 0.34280824661254883], "quat_xyzw": [-0.0006665742839686573, 0.7071065306663513, -0.7071065306663513, -0.0006665345281362534]}, "link_4": {"xyz": [0.1334206759929657, 2.502836287021637e-05, 0.40234625339508057], "quat_xyzw": [-0.3093046545982361, 0.6358700394630432, -0.6358699798583984, -0.3093046247959137]}, "link_5": {"xyz": [0.21017761528491974, 3.166496753692627e-08, 0.36851394176483154], "quat_xyzw": [0.6358668804168701, 0.6358731389045715, -0.3093031048774719, -0.30930617451667786]}, "link_6": {"xyz": [0.2008940577507019, 3.7904828786849976e-07, 0.3163588345050812], "quat_xyzw": [0.6683436632156372, 0.6683351993560791, 0.23092176020145416, 0.2309114634990692]}, "link_left_finger": {"xyz": [0.26908111572265625, 0.0004997104406356812, 0.2929619252681732], "quat_xyzw": [0.30930396914482117, 0.6358634233474731, 0.6358766555786133, -0.3093052804470062]}, "link_right_finger": {"xyz": [0.2074030488729477, -0.0004988163709640503, 0.24456378817558289], "quat_xyzw": [0.30930396914482117, 0.6358634233474731, 0.6358766555786133, -0.3093052804470062]}}}, {"t": 0.14200000000000002, "phase": "settle", "bottle_xyz": [0.2800000011920929, 5.867806240900109e-11, 0.04917910322546959], "bottle_quat_xyzw": [-6.007229713667073e-10, 1.8824372616244034e-11, 1.2655353001623378e-17, 1.0], "bottom_z": -0.0002623567949852426, "q": [1.6831444682452457e-08, 1.048551321029663, 1.0466399192810059, -0.9035857915878296, -1.0025890333054122e-05, 1.6087913536466658e-05, 0.037499282509088516, -0.03750045225024223], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -4.449994150945713e-07, 0.7679285407066345], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3539678454399109, 0.6121329665184021, 0.6121330261230469, -0.3539678454399109]}, "link_3": {"xyz": [-0.11169040948152542, 2.4994835257530212e-05, 0.3428092300891876], "quat_xyzw": [-0.0006758276140317321, 0.7071065306663513, -0.7071064710617065, -0.0006757957744412124]}, "link_4": {"xyz": [0.13342389464378357, 2.5013461709022522e-05, 0.402340829372406], "quat_xyzw": [-0.3093160092830658, 0.6358644962310791, -0.6358644366264343, -0.309315949678421]}, "link_5": {"xyz": [0.21017961204051971, 2.421438694000244e-08, 0.3685057759284973], "quat_xyzw": [0.6358612775802612, 0.635867714881897, -0.30931442975997925, -0.30931758880615234]}, "link_6": {"xyz": [0.20089419186115265, 3.7066638469696045e-07, 0.3163509964942932], "quat_xyzw": [0.6683477759361267, 0.6683393120765686, 0.23090988397598267, 0.230899378657341]}, "link_left_finger": {"xyz": [0.26908040046691895, 0.0004996433854103088, 0.29295164346694946], "quat_xyzw": [0.3093152940273285, 0.6358577609062195, 0.635871171951294, -0.3093167245388031]}, "link_right_finger": {"xyz": [0.2074006199836731, -0.0004988424479961395, 0.24455572664737701], "quat_xyzw": [0.3093152940273285, 0.6358577609062195, 0.635871171951294, -0.3093167245388031]}}}, {"t": 0.162, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.589499779163788e-11, 0.0491686649620533], "bottle_quat_xyzw": [-6.727072232592946e-10, 4.175910311987607e-11, 1.3530685451994343e-17, 1.0], "bottom_z": -0.00027279506088170175, "q": [2.3120724890191013e-08, 1.0485546588897705, 1.0466314554214478, -0.9035884737968445, -1.021371099341195e-05, 1.613181120774243e-05, 0.03749924153089523, -0.03750048950314522], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7994583249092102], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3539688289165497, 0.6121324300765991, 0.6121324300765991, -0.3539688289165497]}, "link_3": {"xyz": [-0.11168963462114334, 2.5002285838127136e-05, 0.34280964732170105], "quat_xyzw": [-0.0006799489492550492, 0.7071064710617065, -0.7071065306663513, -0.0006799192633479834]}, "link_4": {"xyz": [0.13342541456222534, 2.502836287021637e-05, 0.4023383855819702], "quat_xyzw": [-0.3093205392360687, 0.6358622312545776, -0.6358622908592224, -0.3093205690383911]}, "link_5": {"xyz": [0.21018065512180328, 2.421438694000244e-08, 0.3685022294521332], "quat_xyzw": [0.6358590126037598, 0.6358655095100403, -0.30931898951530457, -0.3093221187591553]}, "link_6": {"xyz": [0.20089447498321533, 3.8370490074157715e-07, 0.316347599029541], "quat_xyzw": [0.6683493852615356, 0.6683409810066223, 0.23090511560440063, 0.2308945655822754]}, "link_left_finger": {"xyz": [0.26908037066459656, 0.0004996210336685181, 0.29294729232788086], "quat_xyzw": [0.30931979417800903, 0.6358555555343628, 0.6358689665794373, -0.3093213140964508]}, "link_right_finger": {"xyz": [0.2073998600244522, -0.0004988685250282288, 0.24455222487449646], "quat_xyzw": [0.30931979417800903, 0.6358555555343628, 0.6358689665794373, -0.3093213140964508]}}}, {"t": 0.182, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.698648580272248e-11, 0.049176137894392014], "bottle_quat_xyzw": [-6.826602061416054e-10, 3.871788306630819e-11, 1.421212428524104e-17, 1.0], "bottom_z": -0.0002653221288701074, "q": [1.0754906298870992e-08, 1.048555612564087, 1.0466282367706299, -0.9035884737968445, -1.0208669664280023e-05, 1.617282032384537e-05, 0.03749924153089523, -0.0375005267560482], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7767861485481262], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006814916850998998, 0.7071064710617065, -0.7071064710617065, -0.0006814223597757518]}, "link_4": {"xyz": [0.13342580199241638, 2.503208816051483e-05, 0.4023374617099762], "quat_xyzw": [-0.30932196974754333, 0.6358615756034851, -0.6358616352081299, -0.30932191014289856]}, "link_5": {"xyz": [0.21018089354038239, 4.284083843231201e-08, 0.3685009777545929], "quat_xyzw": [0.6358582973480225, 0.6358648538589478, -0.3093203902244568, -0.3093234896659851]}, "link_6": {"xyz": [0.20089450478553772, 4.0885061025619507e-07, 0.31634634733200073], "quat_xyzw": [0.6683498620986938, 0.6683414578437805, 0.23090365529060364, 0.2308930903673172]}, "link_left_finger": {"xyz": [0.2690802812576294, 0.0004996359348297119, 0.2929457426071167], "quat_xyzw": [0.30932119488716125, 0.6358548998832703, 0.6358683109283447, -0.3093227446079254]}, "link_right_finger": {"xyz": [0.20739957690238953, -0.0004988647997379303, 0.24455097317695618], "quat_xyzw": [0.30932119488716125, 0.6358548998832703, 0.6358683109283447, -0.3093227446079254]}}}, {"t": 0.202, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.414035275126295e-11, 0.04917244240641594], "bottle_quat_xyzw": [-6.525655016353937e-10, 3.7344967396268913e-11, 1.41401314478081e-17, 1.0], "bottom_z": -0.00026901761582179273, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7879354953765869], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.222, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.343640196471156e-11, 0.04917369410395622], "bottle_quat_xyzw": [-6.458401591302732e-10, 3.518722813122821e-11, 1.3597129561878277e-17, 1.0], "bottom_z": -0.00026776591804641287, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841429710388184], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.242, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.13795958503971e-11, 0.04917355999350548], "bottle_quat_xyzw": [-6.244137429334273e-10, 4.9222376174995475e-11, 1.3804119929641097e-17, 1.0], "bottom_z": -0.0002679000278179369, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7845465540885925], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.262, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.28200000000000003, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.302, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.322, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.342, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.362, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.382, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.402, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.422, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.442, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.462, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.482, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.502, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.522, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.542, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.562, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.582, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.602, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.622, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.642, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.662, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.682, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.7020000000000001, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.722, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.742, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.762, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.782, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.802, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.8220000000000001, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.842, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.862, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.882, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.902, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.922, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.9420000000000001, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.962, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 0.982, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 1.002, "phase": "settle", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.297391941245678e-09, 1.048555612564087, 1.0466277599334717, -0.9035884737968445, -1.0200052201980725e-05, 1.618762871657964e-05, 0.03749924153089523, -0.0375005379319191], "target": [0.0, 1.0470000505447388, 1.0499999523162842, -0.8999999761581421, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35396915674209595, 0.6121322512626648, 0.6121322512626648, -0.35396915674209595]}, "link_3": {"xyz": [-0.11168942600488663, 2.5002285838127136e-05, 0.342809796333313], "quat_xyzw": [-0.0006816309760324657, 0.7071064710617065, -0.7071064710617065, -0.0006815837696194649]}, "link_4": {"xyz": [0.13342583179473877, 2.5024637579917908e-05, 0.40233737230300903], "quat_xyzw": [-0.3093220889568329, 0.6358615159988403, -0.6358615159988403, -0.3093220591545105]}, "link_5": {"xyz": [0.21018090844154358, 3.5390257835388184e-08, 0.36850085854530334], "quat_xyzw": [0.6358582377433777, 0.635864794254303, -0.30932047963142395, -0.30932366847991943]}, "link_6": {"xyz": [0.20089448988437653, 3.995373845100403e-07, 0.31634628772735596], "quat_xyzw": [0.6683499217033386, 0.6683415174484253, 0.23090355098247528, 0.23089292645454407]}, "link_left_finger": {"xyz": [0.269080251455307, 0.0004996359348297119, 0.29294565320014954], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}, "link_right_finger": {"xyz": [0.20739953219890594, -0.0004988834261894226, 0.244550883769989], "quat_xyzw": [0.3093213140964508, 0.6358547806739807, 0.6358682513237, -0.30932289361953735]}}}, {"t": 1.022, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.5705455186653126e-07, 1.0487371683120728, 1.0468074083328247, -0.9038028717041016, -1.1322463251417503e-05, 1.6190859241760336e-05, 0.03749927133321762, -0.03750048205256462], "target": [-3.946806938345468e-14, 1.0472023487091064, 1.0502084493637085, -0.9001998901367188, -7.225106336784456e-14, -5.311249622616879e-14, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.35402461886405945, 0.6121001839637756, 0.6121000647544861, -0.35402482748031616]}, "link_3": {"xyz": [-0.11164788156747818, 2.4965032935142517e-05, 0.3428336977958679], "quat_xyzw": [-0.0006824104348197579, 0.7071064710617065, -0.7071064710617065, -0.0006821223651058972]}, "link_4": {"xyz": [0.13346749544143677, 2.506934106349945e-05, 0.40236079692840576], "quat_xyzw": [-0.30939096212387085, 0.6358280181884766, -0.6358281373977661, -0.30939069390296936]}, "link_5": {"xyz": [0.2102152556180954, 1.0989606380462646e-07, 0.3685076832771301], "quat_xyzw": [0.6358243823051453, 0.6358318328857422, -0.3093891739845276, -0.3093925416469574]}, "link_6": {"xyz": [0.2009175568819046, 4.926696419715881e-07, 0.3163550794124603], "quat_xyzw": [0.6683746576309204, 0.6683667898178101, 0.23083166778087616, 0.23082029819488525]}, "link_left_finger": {"xyz": [0.2690982520580292, 0.0004998520016670227, 0.2929396629333496], "quat_xyzw": [0.309389591217041, 0.6358212828636169, 0.6358348727226257, -0.3093920946121216]}, "link_right_finger": {"xyz": [0.20740707218647003, -0.0004986748099327087, 0.24455827474594116], "quat_xyzw": [0.309389591217041, 0.6358212828636169, 0.6358348727226257, -0.3093920946121216]}}}, {"t": 1.042, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.0220909391355235e-07, 1.0493265390396118, 1.0474038124084473, -0.9044159054756165, -1.1446999451436568e-05, 1.6412792319897562e-05, 0.03749939799308777, -0.037500347942113876], "target": [-1.568127274082301e-13, 1.0478037595748901, 1.0508283376693726, -0.9007942080497742, -2.870646157848017e-13, -2.110241370751123e-13, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.35420504212379456, 0.6119957566261292, 0.6119956970214844, -0.3542051315307617]}, "link_3": {"xyz": [-0.1115129366517067, 2.499110996723175e-05, 0.3429112434387207], "quat_xyzw": [-0.0006799208931624889, 0.7071064710617065, -0.7071064710617065, -0.0006797612295486033]}, "link_4": {"xyz": [0.13360202312469482, 2.505071461200714e-05, 0.40244004130363464], "quat_xyzw": [-0.3095836043357849, 0.6357342600822449, -0.6357343196868896, -0.309583455324173]}, "link_5": {"xyz": [0.21032926440238953, 6.891787052154541e-08, 0.3685404062271118], "quat_xyzw": [0.6357305645942688, 0.6357380151748657, -0.30958178639411926, -0.3095852732658386]}, "link_6": {"xyz": [0.20099996030330658, 4.647299647331238e-07, 0.3163934648036957], "quat_xyzw": [0.6684446930885315, 0.6684365272521973, 0.23062916100025177, 0.23061764240264893]}, "link_left_finger": {"xyz": [0.2691664695739746, 0.0004999265074729919, 0.2929367423057556], "quat_xyzw": [0.30958235263824463, 0.6357273459434509, 0.6357412338256836, -0.30958473682403564]}, "link_right_finger": {"xyz": [0.20744594931602478, -0.0004985406994819641, 0.24459272623062134], "quat_xyzw": [0.30958235263824463, 0.6357273459434509, 0.6357412338256836, -0.30958473682403564]}}}, {"t": 1.062, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [8.922700800439998e-08, 1.0503140687942505, 1.0484150648117065, -0.9054030776023865, -1.1068957974202931e-05, 1.645787779125385e-05, 0.037499506026506424, -0.03750023618340492], "target": [-3.504446624384705e-13, 1.0487960577011108, 1.0518512725830078, -0.9017748832702637, -6.415312074972701e-13, -4.715961779075406e-13, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.3545071482658386, 0.6118208169937134, 0.6118207573890686, -0.3545072674751282]}, "link_3": {"xyz": [-0.11128682643175125, 2.4976208806037903e-05, 0.34304097294807434], "quat_xyzw": [-0.0006715129711665213, 0.7071064710617065, -0.7071064710617065, -0.0006713069160468876]}, "link_4": {"xyz": [0.13382670283317566, 2.505071461200714e-05, 0.40257561206817627], "quat_xyzw": [-0.3098897933959961, 0.6355850100517273, -0.6355851292610168, -0.3098895847797394]}, "link_5": {"xyz": [0.21052122116088867, 7.636845111846924e-08, 0.36860209703445435], "quat_xyzw": [0.6355814933776855, 0.6355887055397034, -0.3098880648612976, -0.30989137291908264]}, "link_6": {"xyz": [0.20114167034626007, 4.5355409383773804e-07, 0.3164641261100769], "quat_xyzw": [0.668555736541748, 0.668547511100769, 0.23030701279640198, 0.230295792222023]}, "link_left_finger": {"xyz": [0.26928555965423584, 0.0005000047385692596, 0.29294177889823914], "quat_xyzw": [0.30988866090774536, 0.6355782151222229, 0.635591983795166, -0.3098907768726349]}, "link_right_finger": {"xyz": [0.20751848816871643, -0.0004984699189662933, 0.2446572482585907], "quat_xyzw": [0.30988866090774536, 0.6355782151222229, 0.635591983795166, -0.3098907768726349]}}}, {"t": 1.082, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.1493022533670683e-08, 1.0516870021820068, 1.0498278141021729, -0.9067627787590027, -1.0734279385360423e-05, 1.6599457012489438e-05, 0.03749959543347359, -0.03750012442469597], "target": [-6.187745628383201e-13, 1.0501712560653687, 1.0532689094543457, -0.9031339287757874, -1.1327414700668115e-12, -8.326898740841637e-13, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3549271523952484, 0.6115772724151611, 0.6115772724151611, -0.3549271523952484]}, "link_3": {"xyz": [-0.11097226291894913, 2.5002285838127136e-05, 0.3432210385799408], "quat_xyzw": [-0.0006573923164978623, 0.7071065306663513, -0.7071065306663513, -0.0006573480786755681]}, "link_4": {"xyz": [0.13413897156715393, 2.502836287021637e-05, 0.4027653932571411], "quat_xyzw": [-0.31030917167663574, 0.6353803873062134, -0.6353804469108582, -0.31030911207199097]}, "link_5": {"xyz": [0.21078859269618988, 3.91155481338501e-08, 0.3686906397342682], "quat_xyzw": [0.6353769898414612, 0.6353838443756104, -0.31030750274658203, -0.3103107810020447]}, "link_6": {"xyz": [0.2013402283191681, 4.1443854570388794e-07, 0.3165650963783264], "quat_xyzw": [0.6687077879905701, 0.6686991453170776, 0.22986558079719543, 0.22985459864139557]}, "link_left_finger": {"xyz": [0.2694529891014099, 0.0005000047385692596, 0.29295283555984497], "quat_xyzw": [0.3103083074092865, 0.6353734731674194, 0.6353873610496521, -0.3103099763393402]}, "link_right_finger": {"xyz": [0.20762225985527039, -0.0004984103143215179, 0.24474987387657166], "quat_xyzw": [0.3103083074092865, 0.6353734731674194, 0.6353873610496521, -0.3103099763393402]}}}, {"t": 1.102, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.912190938924141e-08, 1.053436517715454, 1.051631212234497, -0.908488392829895, -1.0657422535587102e-05, 1.669514676905237e-05, 0.037499647587537766, -0.037500008940696716], "target": [-9.602130288804966e-13, 1.0519211292266846, 1.0550726652145386, -0.9048632979393005, -1.757785865648398e-12, -1.2921663522166837e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.355461984872818, 0.611266553401947, 0.611266553401947, -0.355461984872818]}, "link_3": {"xyz": [-0.11057103425264359, 2.5002285838127136e-05, 0.34344983100891113], "quat_xyzw": [-0.0006382996798492968, 0.7071065306663513, -0.7071065306663513, -0.0006382563733495772]}, "link_4": {"xyz": [0.1345369517803192, 2.5024637579917908e-05, 0.403007447719574], "quat_xyzw": [-0.31084010004997253, 0.6351208090782166, -0.6351208686828613, -0.31084007024765015]}, "link_5": {"xyz": [0.21112950146198273, 2.7939677238464355e-08, 0.3688046336174011], "quat_xyzw": [0.6351174116134644, 0.6351242661476135, -0.3108384907245636, -0.31084170937538147]}, "link_6": {"xyz": [0.2015940099954605, 3.8836151361465454e-07, 0.316694974899292], "quat_xyzw": [0.6688997149467468, 0.6688911318778992, 0.22930660843849182, 0.22929564118385315]}, "link_left_finger": {"xyz": [0.26966720819473267, 0.0005000419914722443, 0.29296883940696716], "quat_xyzw": [0.3108392655849457, 0.6351139545440674, 0.6351277828216553, -0.3108409345149994]}, "link_right_finger": {"xyz": [0.20775599777698517, -0.0004983246326446533, 0.24486930668354034], "quat_xyzw": [0.3108392655849457, 0.6351139545440674, 0.6351277828216553, -0.3108409345149994]}}}, {"t": 1.122, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [4.2350798423740343e-08, 1.0555541515350342, 1.0538146495819092, -0.9105724096298218, -1.0834861313924193e-05, 1.6522664736839943e-05, 0.03749968856573105, -0.03749990463256836], "target": [-1.3731708912306795e-12, 1.0540375709533691, 1.0572543144226074, -0.906954824924469, -2.513755046132382e-12, -1.8478870777299816e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.35610896348953247, 0.6108898520469666, 0.6108898520469666, -0.35610896348953247]}, "link_3": {"xyz": [-0.11008486896753311, 2.5002285838127136e-05, 0.3437257707118988], "quat_xyzw": [-0.000615021912381053, 0.7071065306663513, -0.7071065306663513, -0.0006149603868834674]}, "link_4": {"xyz": [0.1350191831588745, 2.502836287021637e-05, 0.4032995104789734], "quat_xyzw": [-0.3114808201789856, 0.6348068714141846, -0.6348068714141846, -0.3114807605743408]}, "link_5": {"xyz": [0.21154256165027618, 3.91155481338501e-08, 0.3689422011375427], "quat_xyzw": [0.6348033547401428, 0.6348103284835815, -0.3114791214466095, -0.3114824593067169]}, "link_6": {"xyz": [0.20190194249153137, 4.2282044887542725e-07, 0.3168518841266632], "quat_xyzw": [0.6691306233406067, 0.6691221594810486, 0.22863157093524933, 0.2286204844713211]}, "link_left_finger": {"xyz": [0.26992711424827576, 0.0005001313984394073, 0.29298844933509827], "quat_xyzw": [0.3114798963069916, 0.6347999572753906, 0.6348137855529785, -0.3114817440509796]}, "link_right_finger": {"xyz": [0.2079189419746399, -0.0004981756210327148, 0.24501396715641022], "quat_xyzw": [0.3114798963069916, 0.6347999572753906, 0.6348137855529785, -0.3114817440509796]}}}, {"t": 1.1420000000000001, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.2847199687703323e-08, 1.0580312013626099, 1.0563685894012451, -0.9130086302757263, -1.0455778465257026e-05, 1.6455172954010777e-05, 0.03749975189566612, -0.03749987110495567], "target": [-1.856058709504005e-12, 1.0565123558044434, 1.0598052740097046, -0.9094005823135376, -3.397739554988899e-12, -2.4977131907882866e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3568652868270874, 0.6104483604431152, 0.6104483008384705, -0.3568652868270874]}, "link_3": {"xyz": [-0.10951540619134903, 2.5017186999320984e-05, 0.34404730796813965], "quat_xyzw": [-0.0005878539523109794, 0.7071065306663513, -0.7071065902709961, -0.000587760005146265]}, "link_4": {"xyz": [0.1355840563774109, 2.5061890482902527e-05, 0.40363991260528564], "quat_xyzw": [-0.3122294545173645, 0.6344388723373413, -0.6344389915466309, -0.3122294247150421]}, "link_5": {"xyz": [0.21202613413333893, 6.51925802230835e-08, 0.3691021502017975], "quat_xyzw": [0.6344355940818787, 0.6344422698020935, -0.31222787499427795, -0.31223100423812866]}, "link_6": {"xyz": [0.20226263999938965, 4.2747706174850464e-07, 0.3170347511768341], "quat_xyzw": [0.6693999171257019, 0.669391393661499, 0.22784186899662018, 0.22783119976520538]}, "link_left_finger": {"xyz": [0.27023133635520935, 0.0005001723766326904, 0.2930108606815338], "quat_xyzw": [0.3122287094593048, 0.6344321966171265, 0.6344457864761353, -0.3122302293777466]}, "link_right_finger": {"xyz": [0.20811013877391815, -0.0004981569945812225, 0.2451827973127365], "quat_xyzw": [0.3122287094593048, 0.6344321966171265, 0.6344457864761353, -0.3122302293777466]}}}, {"t": 1.162, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.912237657109017e-08, 1.0608588457107544, 1.0592843294143677, -0.9157895445823669, -1.0452837159391493e-05, 1.6472971765324473e-05, 0.03749978542327881, -0.03749983757734299], "target": [-2.4072872601560436e-12, 1.0593373775482178, 1.0627174377441406, -0.9121924638748169, -4.4068299356880836e-12, -3.239505668925502e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3577280044555664, 0.6099432110786438, 0.6099432110786438, -0.3577280342578888]}, "link_3": {"xyz": [-0.1088644340634346, 2.4994835257530212e-05, 0.344412624835968], "quat_xyzw": [-0.0005567067419178784, 0.7071065902709961, -0.7071065306663513, -0.0005566139006987214]}, "link_4": {"xyz": [0.13622978329658508, 2.5020912289619446e-05, 0.4040268063545227], "quat_xyzw": [-0.3130834400653839, 0.6340180039405823, -0.6340180039405823, -0.31308332085609436]}, "link_5": {"xyz": [0.21257860958576202, 3.91155481338501e-08, 0.3692833185195923], "quat_xyzw": [0.6340146064758301, 0.6340214014053345, -0.3130817413330078, -0.31308501958847046]}, "link_6": {"xyz": [0.20267494022846222, 4.0046870708465576e-07, 0.3172423839569092], "quat_xyzw": [0.6697060465812683, 0.6696975231170654, 0.22694046795368195, 0.22692959010601044]}, "link_left_finger": {"xyz": [0.27057868242263794, 0.0005001947283744812, 0.2930355668067932], "quat_xyzw": [0.31308257579803467, 0.6340111494064331, 0.6340248584747314, -0.313084214925766]}, "link_right_finger": {"xyz": [0.20832893252372742, -0.0004981458187103271, 0.24537497758865356], "quat_xyzw": [0.31308257579803467, 0.6340111494064331, 0.6340248584747314, -0.313084214925766]}}}, {"t": 1.182, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-6.348719239213096e-08, 1.0640289783477783, 1.0625532865524292, -0.9189064502716064, -1.0300526810169686e-05, 1.6258773030131124e-05, 0.03749978542327881, -0.03749983385205269], "target": [-3.0252671028019318e-12, 1.062504529953003, 1.0659821033477783, -0.9153223633766174, -5.5381164064394195e-12, -4.071126248617052e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3586944043636322, 0.6093753576278687, 0.6093753576278687, -0.3586943745613098]}, "link_3": {"xyz": [-0.10813326388597488, 2.500973641872406e-05, 0.34481996297836304], "quat_xyzw": [-0.0005217915750108659, 0.7071065902709961, -0.7071065902709961, -0.0005217767902649939]}, "link_4": {"xyz": [0.13695502281188965, 2.5020912289619446e-05, 0.40445831418037415], "quat_xyzw": [-0.31403982639312744, 0.6335448026657104, -0.6335448026657104, -0.31403982639312744]}, "link_5": {"xyz": [0.21319861710071564, 2.421438694000244e-08, 0.369484543800354], "quat_xyzw": [0.6335415244102478, 0.6335480213165283, -0.3140381872653961, -0.3140414357185364]}, "link_6": {"xyz": [0.20313793420791626, 3.8277357816696167e-07, 0.31747376918792725], "quat_xyzw": [0.6700478196144104, 0.6700392365455627, 0.2259294092655182, 0.22591885924339294]}, "link_left_finger": {"xyz": [0.27096831798553467, 0.0005001649260520935, 0.29306209087371826], "quat_xyzw": [0.3140391409397125, 0.633538007736206, 0.6335515379905701, -0.31404054164886475]}, "link_right_finger": {"xyz": [0.20857501029968262, -0.0004982054233551025, 0.24558959901332855], "quat_xyzw": [0.3140391409397125, 0.633538007736206, 0.6335515379905701, -0.31404054164886475]}}}, {"t": 1.202, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.9109390336780052e-07, 1.0675333738327026, 1.0661674737930298, -0.9223520755767822, -9.840845450526103e-06, 1.5990623069228604e-05, 0.03749978542327881, -0.03749988600611687], "target": [-3.70840901389724e-12, 1.0660057067871094, 1.0695910453796387, -0.9187823534011841, -6.7886902696545626e-12, -4.990435582136188e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.3597615957260132, 0.6087459325790405, 0.6087459921836853, -0.35976147651672363]}, "link_3": {"xyz": [-0.10732365399599075, 2.50302255153656e-05, 0.34526756405830383], "quat_xyzw": [-0.0004828438104595989, 0.7071065902709961, -0.7071066498756409, -0.0004829436948057264]}, "link_4": {"xyz": [0.1377580761909485, 2.5004148483276367e-05, 0.4049328863620758], "quat_xyzw": [-0.3150959610939026, 0.6330201625823975, -0.6330201625823975, -0.31509608030319214]}, "link_5": {"xyz": [0.21388459205627441, -7.450580596923828e-09, 0.3697049915790558], "quat_xyzw": [0.6330171227455139, 0.633023202419281, -0.3150944709777832, -0.3150975704193115]}, "link_6": {"xyz": [0.20365047454833984, 3.390014171600342e-07, 0.31772807240486145], "quat_xyzw": [0.670423686504364, 0.6704150438308716, 0.2248113453388214, 0.22480127215385437]}, "link_left_finger": {"xyz": [0.27139905095100403, 0.0005000755190849304, 0.293090283870697], "quat_xyzw": [0.31509554386138916, 0.6330135464668274, 0.6330267786979675, -0.31509655714035034]}, "link_right_finger": {"xyz": [0.20884771645069122, -0.0004983283579349518, 0.24582618474960327], "quat_xyzw": [0.31509554386138916, 0.6330135464668274, 0.6330267786979675, -0.31509655714035034]}}}, {"t": 1.222, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.539062566280336e-08, 1.0713638067245483, 1.0701181888580322, -0.9261175990104675, -1.052047900884645e-05, 1.612388587091118e-05, 0.037499818950891495, -0.03749991953372955], "target": [-4.45512376989754e-12, 1.0698325634002686, 1.0735359191894531, -0.9225643277168274, -8.15564196038343e-12, -5.995295405958334e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3609267771244049, 0.608055830001831, 0.608055830001831, -0.3609267771244049]}, "link_3": {"xyz": [-0.10643688589334488, 2.5002285838127136e-05, 0.34575358033180237], "quat_xyzw": [-0.00044040236389264464, 0.7071066498756409, -0.7071066498756409, -0.00044036773033440113]}, "link_4": {"xyz": [0.1386376917362213, 2.5017186999320984e-05, 0.40544837713241577], "quat_xyzw": [-0.316249281167984, 0.6324447989463806, -0.6324447989463806, -0.3162492513656616]}, "link_5": {"xyz": [0.21463528275489807, 2.0489096641540527e-08, 0.36994320154190063], "quat_xyzw": [0.6324414610862732, 0.632448136806488, -0.3162476122379303, -0.31625092029571533]}, "link_6": {"xyz": [0.2042117714881897, 3.9208680391311646e-07, 0.31800389289855957], "quat_xyzw": [0.6708322167396545, 0.6708238124847412, 0.22358931601047516, 0.22357866168022156]}, "link_left_finger": {"xyz": [0.27187007665634155, 0.0005002319812774658, 0.29311931133270264], "quat_xyzw": [0.31624847650527954, 0.632438063621521, 0.6324515342712402, -0.3162500560283661]}, "link_right_finger": {"xyz": [0.2091468870639801, -0.0004982613027095795, 0.24608352780342102], "quat_xyzw": [0.31624847650527954, 0.632438063621521, 0.6324515342712402, -0.3162500560283661]}}}, {"t": 1.242, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.597638548706982e-08, 1.0755120515823364, 1.0743968486785889, -0.9301965236663818, -1.0652053788362537e-05, 1.6247853636741638e-05, 0.03749987855553627, -0.03749989718198776], "target": [-5.263821930417967e-12, 1.0739772319793701, 1.077808141708374, -0.9266602396965027, -9.636061046314204e-12, -7.08356723971848e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3621871769428253, 0.6073058843612671, 0.6073058843612671, -0.3621871769428253]}, "link_3": {"xyz": [-0.10547436028718948, 2.5002285838127136e-05, 0.34627607464790344], "quat_xyzw": [-0.0003943238116335124, 0.7071066498756409, -0.7071067094802856, -0.0003942494513466954]}, "link_4": {"xyz": [0.13959243893623352, 2.503208816051483e-05, 0.40600281953811646], "quat_xyzw": [-0.31749728322029114, 0.6318191885948181, -0.6318192481994629, -0.31749722361564636]}, "link_5": {"xyz": [0.2154492437839508, 4.284083843231201e-08, 0.3701978623867035], "quat_xyzw": [0.6318157911300659, 0.6318226456642151, -0.31749558448791504, -0.31749892234802246]}, "link_6": {"xyz": [0.20482072234153748, 4.102475941181183e-07, 0.31830012798309326], "quat_xyzw": [0.671272337436676, 0.6712638735771179, 0.2222645878791809, 0.22225375473499298]}, "link_left_finger": {"xyz": [0.2723802328109741, 0.000500313937664032, 0.29314857721328735], "quat_xyzw": [0.3174964487552643, 0.6318123936653137, 0.6318260431289673, -0.317498117685318]}, "link_right_finger": {"xyz": [0.20947182178497314, -0.0004982016980648041, 0.24636083841323853], "quat_xyzw": [0.3174964487552643, 0.6318123936653137, 0.6318260431289673, -0.317498117685318]}}}, {"t": 1.262, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-3.5466520387217315e-08, 1.079969882965088, 1.078994631767273, -0.9345794320106506, -1.0519866009417456e-05, 1.5981062460923567e-05, 0.03749995306134224, -0.03749989718198776], "target": [-6.132914055073657e-12, 1.078431248664856, 1.0823994874954224, -0.9310620427131653, -1.1227039263539407e-11, -8.253111735689878e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3635399043560028, 0.6064971089363098, 0.6064971089363098, -0.3635399043560028]}, "link_3": {"xyz": [-0.10443771630525589, 2.5002285838127136e-05, 0.34683310985565186], "quat_xyzw": [-0.0003448003262747079, 0.7071067094802856, -0.7071067094802856, -0.00034476627479307353]}, "link_4": {"xyz": [0.14062070846557617, 2.5013461709022522e-05, 0.4065941572189331], "quat_xyzw": [-0.31883692741394043, 0.6311442255973816, -0.6311442255973816, -0.31883689761161804]}, "link_5": {"xyz": [0.21632491052150726, 9.313225746154785e-09, 0.3704676628112793], "quat_xyzw": [0.6311408877372742, 0.631147563457489, -0.31883522868156433, -0.31883859634399414]}, "link_6": {"xyz": [0.2054762840270996, 3.809109330177307e-07, 0.31861549615859985], "quat_xyzw": [0.67174232006073, 0.6717339754104614, 0.2208399474620819, 0.2208293229341507]}, "link_left_finger": {"xyz": [0.27292850613594055, 0.0005003511905670166, 0.2931775450706482], "quat_xyzw": [0.31883612275123596, 0.6311375498771667, 0.6311509609222412, -0.3188377320766449]}, "link_right_finger": {"xyz": [0.20982211828231812, -0.000498257577419281, 0.2466571182012558], "quat_xyzw": [0.31883612275123596, 0.6311375498771667, 0.6311509609222412, -0.3188377320766449]}}}, {"t": 1.282, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-3.928842673417421e-08, 1.0847296714782715, 1.083903431892395, -0.9392591118812561, -1.045038334268611e-05, 1.581689139129594e-05, 0.03750002756714821, -0.03749989718198776], "target": [-7.060810703479747e-12, 1.0831867456436157, 1.08730149269104, -0.9357616901397705, -1.2925666613428088e-11, -9.501789979826647e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3649822473526001, 0.6056302189826965, 0.6056302189826965, -0.3649822771549225]}, "link_3": {"xyz": [-0.10332808643579483, 2.4994835257530212e-05, 0.3474227488040924], "quat_xyzw": [-0.00029212533263489604, 0.7071067094802856, -0.7071067690849304, -0.00029204515158198774]}, "link_4": {"xyz": [0.1417214274406433, 2.502836287021637e-05, 0.40722033381462097], "quat_xyzw": [-0.32026588916778564, 0.6304202675819397, -0.6304203867912292, -0.32026582956314087]}, "link_5": {"xyz": [0.2172611802816391, 3.166496753692627e-08, 0.37075120210647583], "quat_xyzw": [0.630416989326477, 0.6304236650466919, -0.32026422023773193, -0.3202674686908722]}, "link_6": {"xyz": [0.2061777263879776, 3.9814040064811707e-07, 0.31894874572753906], "quat_xyzw": [0.6722407937049866, 0.6722325682640076, 0.21931760013103485, 0.2193070948123932]}, "link_left_finger": {"xyz": [0.2735140025615692, 0.000500459223985672, 0.2932054102420807], "quat_xyzw": [0.3202650547027588, 0.6304137110710144, 0.6304269433021545, -0.3202666640281677]}, "link_right_finger": {"xyz": [0.21019750833511353, -0.0004982538521289825, 0.24697136878967285], "quat_xyzw": [0.3202650547027588, 0.6304137110710144, 0.6304269433021545, -0.3202666640281677]}}}, {"t": 1.302, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [5.297987826224926e-08, 1.089782476425171, 1.0891157388687134, -0.9442271590232849, -1.0856640074052848e-05, 1.5733101463411003e-05, 0.03750012442469597, -0.03749987483024597], "target": [-8.045923302613112e-12, 1.0882354974746704, 1.092505693435669, -0.9407510757446289, -1.4729033964711036e-11, -1.0827463058082909e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.36651119589805603, 0.6047061681747437, 0.6047061681747437, -0.36651119589805603]}, "link_3": {"xyz": [-0.10214705020189285, 2.5002285838127136e-05, 0.34804293513298035], "quat_xyzw": [-0.00023577158572152257, 0.7071067094802856, -0.7071067690849304, -0.00023570956545881927]}, "link_4": {"xyz": [0.14289292693138123, 2.5024637579917908e-05, 0.4078795611858368], "quat_xyzw": [-0.3217806816101074, 0.6296484470367432, -0.6296485066413879, -0.32178065180778503]}, "link_5": {"xyz": [0.21825644373893738, 2.7939677238464355e-08, 0.37104761600494385], "quat_xyzw": [0.629645049571991, 0.6296519637107849, -0.32177895307540894, -0.3217824101448059]}, "link_6": {"xyz": [0.20692403614521027, 3.9907172322273254e-07, 0.31929901242256165], "quat_xyzw": [0.6727660894393921, 0.6727579236030579, 0.2177007794380188, 0.21769003570079803]}, "link_left_finger": {"xyz": [0.2741357386112213, 0.0005005672574043274, 0.2932322025299072], "quat_xyzw": [0.3217797875404358, 0.6296418309211731, 0.6296551823616028, -0.32178160548210144]}, "link_right_finger": {"xyz": [0.21059763431549072, -0.0004982016980648041, 0.24730315804481506], "quat_xyzw": [0.3217797875404358, 0.6296418309211731, 0.6296551823616028, -0.32178160548210144]}}}, {"t": 1.322, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.280628639387942e-08, 1.0951213836669922, 1.0946208238601685, -0.9494756460189819, -1.0957569429592695e-05, 1.5626339518348686e-05, 0.03750018775463104, -0.03749983012676239], "target": [-9.086661978408017e-12, 1.093569278717041, 1.09800386428833, -0.9460222125053406, -1.663423045139556e-11, -1.222799379113626e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3681241273880005, 0.6037256717681885, 0.6037256717681885, -0.3681241273880005]}, "link_3": {"xyz": [-0.10089582949876785, 2.5002285838127136e-05, 0.34869176149368286], "quat_xyzw": [-0.00017699624004308134, 0.7071067690849304, -0.7071067690849304, -0.00017693098925519735]}, "link_4": {"xyz": [0.14413422346115112, 2.5024637579917908e-05, 0.4085691273212433], "quat_xyzw": [-0.32337966561317444, 0.628828763961792, -0.628828763961792, -0.32337960600852966]}, "link_5": {"xyz": [0.21930956840515137, 3.5390257835388184e-08, 0.3713546395301819], "quat_xyzw": [0.628825306892395, 0.628832221031189, -0.3233778476715088, -0.3233814239501953]}, "link_6": {"xyz": [0.2077142894268036, 4.2514875531196594e-07, 0.3196642994880676], "quat_xyzw": [0.6733171343803406, 0.6733089685440063, 0.2159905582666397, 0.21597976982593536]}, "link_left_finger": {"xyz": [0.2747926414012909, 0.0005006715655326843, 0.2932562530040741], "quat_xyzw": [0.32337871193885803, 0.6288220882415771, 0.6288354992866516, -0.32338058948516846]}, "link_right_finger": {"xyz": [0.21102197468280792, -0.0004981271922588348, 0.24765074253082275], "quat_xyzw": [0.32337871193885803, 0.6288220882415771, 0.6288354992866516, -0.32338058948516846]}}}, {"t": 1.342, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.2666547749849997e-07, 1.10073721408844, 1.1004130840301514, -0.9549947381019592, -1.169647293863818e-05, 1.5550764146610163e-05, 0.03750023990869522, -0.03749975562095642], "target": [-1.01814372904796e-11, 1.099179983139038, 1.1037874221801758, -0.9515670537948608, -1.863834954429766e-11, -1.3701241530217345e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.3698178231716156, 0.6026896238327026, 0.6026895642280579, -0.36981794238090515]}, "link_3": {"xyz": [-0.09957585483789444, 2.4983659386634827e-05, 0.3493669629096985], "quat_xyzw": [-0.00011470861500129104, 0.7071068286895752, -0.7071068286895752, -0.00011450928286649287]}, "link_4": {"xyz": [0.14544370770454407, 2.5061890482902527e-05, 0.40928754210472107], "quat_xyzw": [-0.32505837082862854, 0.6279626488685608, -0.6279627084732056, -0.3250582218170166]}, "link_5": {"xyz": [0.22041916847229004, 8.754432201385498e-08, 0.37167197465896606], "quat_xyzw": [0.6279589533805847, 0.6279664039611816, -0.32505643367767334, -0.3250601589679718]}, "link_6": {"xyz": [0.20854789018630981, 4.945322871208191e-07, 0.3200443387031555], "quat_xyzw": [0.6738914847373962, 0.6738836765289307, 0.21419134736061096, 0.2141801118850708]}, "link_left_finger": {"xyz": [0.275484174489975, 0.0005008503794670105, 0.293278306722641], "quat_xyzw": [0.32505711913108826, 0.627955973148346, 0.6279694437980652, -0.32505953311920166]}, "link_right_finger": {"xyz": [0.21147073805332184, -0.0004979409277439117, 0.24801412224769592], "quat_xyzw": [0.32505711913108826, 0.627955973148346, 0.6279694437980652, -0.32505953311920166]}}}, {"t": 1.362, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.77218538510715e-07, 1.106621503829956, 1.1064826250076294, -0.9607794880867004, -1.165193498309236e-05, 1.5466563127120025e-05, 0.0375002920627594, -0.03749967738986015], "target": [-1.1328660232123866e-11, 1.1050595045089722, 1.1098480224609375, -0.9573774933815002, -2.0738478642701175e-11, -1.524506909600376e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.37158942222595215, 0.6015989780426025, 0.6015989184379578, -0.3715895414352417]}, "link_3": {"xyz": [-0.09818888455629349, 2.4983659386634827e-05, 0.35006651282310486], "quat_xyzw": [-4.92046274302993e-05, 0.7071068286895752, -0.7071068286895752, -4.900217390968464e-05]}, "link_4": {"xyz": [0.14681953191757202, 2.5058165192604065e-05, 0.4100324809551239], "quat_xyzw": [-0.32681524753570557, 0.6270501017570496, -0.6270501613616943, -0.32681506872177124]}, "link_5": {"xyz": [0.22158318758010864, 7.636845111846924e-08, 0.3719976544380188], "quat_xyzw": [0.6270464062690735, 0.6270538568496704, -0.3268132507801056, -0.32681703567504883]}, "link_6": {"xyz": [0.2094230353832245, 4.903413355350494e-07, 0.3204372823238373], "quat_xyzw": [0.6744885444641113, 0.674480676651001, 0.21230381727218628, 0.2122925966978073]}, "link_left_finger": {"xyz": [0.27620840072631836, 0.0005009062588214874, 0.29329684376716614], "quat_xyzw": [0.3268139362335205, 0.6270433664321899, 0.627056896686554, -0.3268163204193115]}, "link_right_finger": {"xyz": [0.21194252371788025, -0.0004978775978088379, 0.24839185178279877], "quat_xyzw": [0.3268139362335205, 0.6270433664321899, 0.627056896686554, -0.3268163204193115]}}}, {"t": 1.3820000000000001, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.5606929082423449e-07, 1.1127667427062988, 1.112821102142334, -0.9668212532997131, -1.1679730960167944e-05, 1.5306470231735148e-05, 0.037500329315662384, -0.0374995656311512], "target": [-1.2526740929275082e-11, 1.1111997365951538, 1.1161773204803467, -0.9634456038475037, -2.2931710350060364e-11, -1.6857334972364413e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.37343618273735046, 0.6004543900489807, 0.6004543304443359, -0.3734362721443176]}, "link_3": {"xyz": [-0.09673596173524857, 2.499110996723175e-05, 0.3507883548736572], "quat_xyzw": [1.912364677991718e-05, 0.7071068286895752, -0.7071068286895752, 1.9297885955893435e-05]}, "link_4": {"xyz": [0.14826086163520813, 2.5058165192604065e-05, 0.4108016788959503], "quat_xyzw": [-0.3286474943161011, 0.626091718673706, -0.6260917782783508, -0.32864734530448914]}, "link_5": {"xyz": [0.22280079126358032, 6.891787052154541e-08, 0.3723302483558655], "quat_xyzw": [0.62608802318573, 0.6260954737663269, -0.3286455273628235, -0.3286493122577667]}, "link_6": {"xyz": [0.2103392779827118, 4.810281097888947e-07, 0.32084187865257263], "quat_xyzw": [0.675106406211853, 0.6750986576080322, 0.21033047139644623, 0.21031929552555084]}, "link_left_finger": {"xyz": [0.27696478366851807, 0.0005009323358535767, 0.29331132769584656], "quat_xyzw": [0.3286462426185608, 0.626085102558136, 0.6260984539985657, -0.3286486566066742]}, "link_right_finger": {"xyz": [0.21243736147880554, -0.0004977770149707794, 0.2487829625606537], "quat_xyzw": [0.3286462426185608, 0.626085102558136, 0.6260984539985657, -0.3286486566066742]}}}, {"t": 1.4020000000000001, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.1075088224288265e-07, 1.1191657781600952, 1.1194201707839966, -0.973109245300293, -1.1417731911933515e-05, 1.5150345461734105e-05, 0.037500351667404175, -0.03749949857592583], "target": [-1.3774091242590991e-11, 1.117592453956604, 1.1227669715881348, -0.9697631597518921, -2.5215135535106015e-11, -1.8535903714700375e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.37535542249679565, 0.5992565155029297, 0.5992564558982849, -0.3753555119037628]}, "link_3": {"xyz": [-0.09521839767694473, 2.499110996723175e-05, 0.351530522108078], "quat_xyzw": [8.986370085040107e-05, 0.7071068286895752, -0.7071068286895752, 9.000448335427791e-05]}, "link_4": {"xyz": [0.14976641535758972, 2.504698932170868e-05, 0.41159284114837646], "quat_xyzw": [-0.33055180311203003, 0.6250884532928467, -0.6250885128974915, -0.3305516541004181]}, "link_5": {"xyz": [0.22407077252864838, 6.51925802230835e-08, 0.3726683259010315], "quat_xyzw": [0.6250848174095154, 0.6250921487808228, -0.33054986596107483, -0.3305535912513733]}, "link_6": {"xyz": [0.21129603683948517, 4.605390131473541e-07, 0.3212567865848541], "quat_xyzw": [0.6757435202598572, 0.6757358312606812, 0.20827440917491913, 0.20826342701911926]}, "link_left_finger": {"xyz": [0.27775269746780396, 0.0005009397864341736, 0.2933211028575897], "quat_xyzw": [0.33055058121681213, 0.6250818371772766, 0.6250950694084167, -0.3305529057979584]}, "link_right_finger": {"xyz": [0.21295540034770966, -0.0004977546632289886, 0.24918639659881592], "quat_xyzw": [0.33055058121681213, 0.6250818371772766, 0.6250950694084167, -0.3305529057979584]}}}, {"t": 1.422, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.6286047355151823e-07, 1.1258087158203125, 1.1262710094451904, -0.9796389937400818, -1.1603824532357976e-05, 1.5056752090458758e-05, 0.037500351667404175, -0.037499453872442245], "target": [-1.5069119563282385e-11, 1.1242294311523438, 1.1296085119247437, -0.9763222336769104, -2.758584333184544e-11, -2.0278636408965767e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.3773437738418579, 0.5980064868927002, 0.5980064272880554, -0.3773438632488251]}, "link_3": {"xyz": [-0.09363795071840286, 2.499110996723175e-05, 0.35229066014289856], "quat_xyzw": [0.0001633520587347448, 0.7071067690849304, -0.7071068286895752, 0.00016352625971194357]}, "link_4": {"xyz": [0.15133434534072876, 2.5058165192604065e-05, 0.4124039113521576], "quat_xyzw": [-0.33252596855163574, 0.624040424823761, -0.6240406036376953, -0.3325258493423462]}, "link_5": {"xyz": [0.22539113461971283, 7.636845111846924e-08, 0.37301045656204224], "quat_xyzw": [0.6240368485450745, 0.6240442395210266, -0.3325240910053253, -0.332527756690979]}, "link_6": {"xyz": [0.2122916430234909, 4.637986421585083e-07, 0.3216806948184967], "quat_xyzw": [0.6763983964920044, 0.6763908267021179, 0.20613740384578705, 0.20612648129463196]}, "link_left_finger": {"xyz": [0.27857038378715515, 0.0005009546875953674, 0.29332542419433594], "quat_xyzw": [0.33252474665641785, 0.6240339279174805, 0.624047040939331, -0.3325271010398865]}, "link_right_finger": {"xyz": [0.21349535882472992, -0.0004977136850357056, 0.24960124492645264], "quat_xyzw": [0.33252474665641785, 0.6240339279174805, 0.624047040939331, -0.3325271010398865]}}}, {"t": 1.442, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.0956799911809867e-09, 1.1326874494552612, 1.1333659887313843, -0.9864014387130737, -1.0969234608637635e-05, 1.4813172128924634e-05, 0.03750037029385567, -0.03749939054250717], "target": [-1.6410239486730482e-11, 1.1311026811599731, 1.1366934776306152, -0.9831147789955139, -3.004092460900942e-11, -2.2083390671667757e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.37939828634262085, 0.5967050790786743, 0.5967050790786743, -0.37939831614494324]}, "link_3": {"xyz": [-0.09199614077806473, 2.498738467693329e-05, 0.35306668281555176], "quat_xyzw": [0.00023988622706383467, 0.7071067690849304, -0.7071067690849304, 0.0002399635559413582]}, "link_4": {"xyz": [0.15296316146850586, 2.5017186999320984e-05, 0.4132329225540161], "quat_xyzw": [-0.3345666825771332, 0.6229487657546997, -0.6229488253593445, -0.3345666229724884]}, "link_5": {"xyz": [0.22676049172878265, 2.7939677238464355e-08, 0.373355507850647], "quat_xyzw": [0.6229453682899475, 0.6229522228240967, -0.33456483483314514, -0.33456847071647644]}, "link_6": {"xyz": [0.21332527697086334, 4.1211023926734924e-07, 0.3221125900745392], "quat_xyzw": [0.6770695447921753, 0.6770617365837097, 0.20392218232154846, 0.20391173660755157]}, "link_left_finger": {"xyz": [0.2794169783592224, 0.0005008652806282043, 0.2933241128921509], "quat_xyzw": [0.3345657289028168, 0.622942328453064, 0.6229552626609802, -0.3345676064491272]}, "link_right_finger": {"xyz": [0.21405711770057678, -0.0004977323114871979, 0.2500268220901489], "quat_xyzw": [0.3345657289028168, 0.622942328453064, 0.6229552626609802, -0.3345676064491272]}}}, {"t": 1.462, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.3172518126557407e-08, 1.139794945716858, 1.1406960487365723, -0.993387758731842, -1.1108449143648613e-05, 1.4767456377740018e-05, 0.03750037029385567, -0.037499357014894485], "target": [-1.7795860271507813e-11, 1.1382039785385132, 1.144013524055481, -0.9901326894760132, -3.257746850060528e-11, -2.394803105820742e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.38151639699935913, 0.5953530073165894, 0.5953530073165894, -0.38151639699935913]}, "link_3": {"xyz": [-0.09029413014650345, 2.5002285838127136e-05, 0.3538565933704376], "quat_xyzw": [0.00031861240859143436, 0.7071067094802856, -0.7071067094802856, 0.000318670499837026]}, "link_4": {"xyz": [0.1546517014503479, 2.5020912289619446e-05, 0.41407737135887146], "quat_xyzw": [-0.33667147159576416, 0.6218137741088867, -0.6218138337135315, -0.3366714417934418]}, "link_5": {"xyz": [0.22817763686180115, 3.166496753692627e-08, 0.3737017512321472], "quat_xyzw": [0.6218103170394897, 0.6218172907829285, -0.33666959404945374, -0.3366733193397522]}, "link_6": {"xyz": [0.214396134018898, 4.172325134277344e-07, 0.32255086302757263], "quat_xyzw": [0.6777551770210266, 0.6777474880218506, 0.2016313225030899, 0.20162078738212585]}, "link_left_finger": {"xyz": [0.2802915871143341, 0.000500895082950592, 0.2933160066604614], "quat_xyzw": [0.3366704285144806, 0.621807336807251, 0.6218202114105225, -0.33667242527008057]}, "link_right_finger": {"xyz": [0.21464040875434875, -0.0004976876080036163, 0.2504618465900421], "quat_xyzw": [0.3366704285144806, 0.621807336807251, 0.6218202114105225, -0.33667242527008057]}}}, {"t": 1.482, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.167883270791208e-08, 1.1471225023269653, 1.1482534408569336, -1.0005897283554077, -1.1223344699828885e-05, 1.458335009374423e-05, 0.03750037029385567, -0.037499334663152695], "target": [-1.9224392910910382e-11, 1.1455252170562744, 1.1515603065490723, -0.9973679184913635, -3.519257107953422e-11, -2.5870418654538874e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.383695125579834, 0.5939512252807617, 0.5939512252807617, -0.383695125579834]}, "link_3": {"xyz": [-0.08853361755609512, 2.5002285838127136e-05, 0.3546583652496338], "quat_xyzw": [0.00039980976725928485, 0.7071066498756409, -0.7071067094802856, 0.000399858778109774]}, "link_4": {"xyz": [0.15639838576316833, 2.5024637579917908e-05, 0.4149354100227356], "quat_xyzw": [-0.3388371467590332, 0.6206362843513489, -0.6206363439559937, -0.3388371169567108]}, "link_5": {"xyz": [0.22964102029800415, 2.7939677238464355e-08, 0.374048113822937], "quat_xyzw": [0.6206328272819519, 0.6206398010253906, -0.3388352692127228, -0.33883899450302124]}, "link_6": {"xyz": [0.21550323069095612, 4.130415618419647e-07, 0.32299456000328064], "quat_xyzw": [0.6784539818763733, 0.678446352481842, 0.19926734268665314, 0.19925685226917267]}, "link_left_finger": {"xyz": [0.28119325637817383, 0.000500902533531189, 0.293300986289978], "quat_xyzw": [0.338836133480072, 0.6206299066543579, 0.6206426620483398, -0.338838130235672]}, "link_right_finger": {"xyz": [0.215244859457016, -0.0004976801574230194, 0.2509055435657501], "quat_xyzw": [0.338836133480072, 0.6206299066543579, 0.6206426620483398, -0.338838130235672]}}}, {"t": 1.502, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [8.359140046820812e-09, 1.154662013053894, 1.1560300588607788, -1.007999300956726, -1.1094672117906157e-05, 1.4390227079275064e-05, 0.03750036284327507, -0.037499383091926575], "target": [-2.0694246663510718e-11, 1.1530582904815674, 1.1593254804611206, -1.004812479019165, -3.788331454090965e-11, -2.784841454661624e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3859314024448395, 0.5925005674362183, 0.5925005674362183, -0.3859314024448395]}, "link_3": {"xyz": [-0.08671612292528152, 2.5002285838127136e-05, 0.35546979308128357], "quat_xyzw": [0.00048369841533713043, 0.7071066498756409, -0.7071066498756409, 0.00048374730977229774]}, "link_4": {"xyz": [0.15820160508155823, 2.5024637579917908e-05, 0.4158049523830414], "quat_xyzw": [-0.34106066823005676, 0.6194171905517578, -0.6194172501564026, -0.341060608625412]}, "link_5": {"xyz": [0.2311491072177887, 3.5390257835388184e-08, 0.37439340353012085], "quat_xyzw": [0.6194137334823608, 0.6194206476211548, -0.34105876088142395, -0.3410624861717224]}, "link_6": {"xyz": [0.2166454941034317, 4.302710294723511e-07, 0.32344260811805725], "quat_xyzw": [0.6791641712188721, 0.6791566610336304, 0.19683299958705902, 0.1968226432800293]}, "link_left_finger": {"xyz": [0.28212085366249084, 0.0005009248852729797, 0.29327860474586487], "quat_xyzw": [0.3410596251487732, 0.6194108724594116, 0.619423508644104, -0.34106165170669556]}, "link_right_finger": {"xyz": [0.21587011218070984, -0.0004977285861968994, 0.2513572871685028], "quat_xyzw": [0.3410596251487732, 0.6194108724594116, 0.619423508644104, -0.34106165170669556]}}}, {"t": 1.522, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [3.554374927716708e-08, 1.1624057292938232, 1.1640162467956543, -1.015608549118042, -1.1209538570255972e-05, 1.4168227608024608e-05, 0.03750032186508179, -0.037499427795410156], "target": [-2.2203834257328303e-11, 1.160794973373413, 1.1673004627227783, -1.0124582052230835, -4.0646798427079744e-11, -2.987987635094669e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.3882226347923279, 0.5910018682479858, 0.5910018682479858, -0.3882226049900055]}, "link_3": {"xyz": [-0.08484304696321487, 2.500973641872406e-05, 0.35628893971443176], "quat_xyzw": [0.0005693883285857737, 0.7071065306663513, -0.7071065902709961, 0.0005693939165212214]}, "link_4": {"xyz": [0.16006004810333252, 2.5020912289619446e-05, 0.4166834354400635], "quat_xyzw": [-0.3433398902416229, 0.6181566715240479, -0.6181567311286926, -0.3433399498462677]}, "link_5": {"xyz": [0.23270046710968018, 1.6763806343078613e-08, 0.37473562359809875], "quat_xyzw": [0.6181532740592957, 0.6181601285934448, -0.3433380126953125, -0.3433418273925781]}, "link_6": {"xyz": [0.2178219109773636, 4.1117891669273376e-07, 0.3238930404186249], "quat_xyzw": [0.6798844933509827, 0.6798770427703857, 0.19432994723320007, 0.19431963562965393]}, "link_left_finger": {"xyz": [0.2830732762813568, 0.0005008578300476074, 0.2932475507259369], "quat_xyzw": [0.3433389365673065, 0.6181504130363464, 0.618162989616394, -0.3433409631252289]}, "link_right_finger": {"xyz": [0.21651549637317657, -0.0004977881908416748, 0.25181540846824646], "quat_xyzw": [0.3433389365673065, 0.6181504130363464, 0.618162989616394, -0.3433409631252289]}}}, {"t": 1.542, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.1281685746998846e-07, 1.1703455448150635, 1.1722038984298706, -1.0234107971191406, -1.0363066394347697e-05, 1.4101787201070692e-05, 0.03750021010637283, -0.03749949857592583], "target": [-2.3751564950935666e-11, 1.1687270402908325, 1.1754769086837769, -1.0202971696853638, -4.3480104933157904e-11, -3.196267209237824e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.39056581258773804, 0.5894559621810913, 0.5894560217857361, -0.3905656933784485]}, "link_3": {"xyz": [-0.0829160287976265, 2.5022774934768677e-05, 0.35711371898651123], "quat_xyzw": [0.000657073687762022, 0.7071064710617065, -0.7071065306663513, 0.0006570252007804811]}, "link_4": {"xyz": [0.16197210550308228, 2.5019049644470215e-05, 0.4175689220428467], "quat_xyzw": [-0.3456723093986511, 0.6168554425239563, -0.6168554425239563, -0.3456723988056183]}, "link_5": {"xyz": [0.23429356515407562, 7.450580596923828e-09, 0.37507355213165283], "quat_xyzw": [0.6168522834777832, 0.6168585419654846, -0.34567058086395264, -0.3456741273403168]}, "link_6": {"xyz": [0.21903134882450104, 3.771856427192688e-07, 0.32434481382369995], "quat_xyzw": [0.6806138157844543, 0.6806060671806335, 0.19176019728183746, 0.19175058603286743]}, "link_left_finger": {"xyz": [0.2840493619441986, 0.0005006492137908936, 0.2932072579860687], "quat_xyzw": [0.345671683549881, 0.6168493032455444, 0.6168615818023682, -0.3456730246543884]}, "link_right_finger": {"xyz": [0.21718047559261322, -0.0004979521036148071, 0.2522790729999542], "quat_xyzw": [0.345671683549881, 0.6168493032455444, 0.6168615818023682, -0.3456730246543884]}}}, {"t": 1.562, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.0346864698362879e-08, 1.1784725189208984, 1.1805851459503174, -1.0313966274261475, -1.1085390724474564e-05, 1.4082590496400371e-05, 0.03750007599592209, -0.03749963641166687], "target": [-2.533585147235229e-11, 1.1768465042114258, 1.1838464736938477, -1.028321385383606, -4.6380333601492296e-11, -3.4094657652694593e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.39295777678489685, 0.587864100933075, 0.587864100933075, -0.39295777678489685]}, "link_3": {"xyz": [-0.08093688637018204, 2.5002285838127136e-05, 0.3579420745372772], "quat_xyzw": [0.0007469031261280179, 0.7071064114570618, -0.7071064114570618, 0.0007469650008715689]}, "link_4": {"xyz": [0.16393586993217468, 2.503208816051483e-05, 0.41845953464508057], "quat_xyzw": [-0.3480544090270996, 0.6155145764350891, -0.6155145764350891, -0.3480543792247772]}, "link_5": {"xyz": [0.23592662811279297, 3.5390257835388184e-08, 0.37540629506111145], "quat_xyzw": [0.6155111193656921, 0.6155179738998413, -0.3480524718761444, -0.3480563163757324]}, "link_6": {"xyz": [0.22027266025543213, 4.139728844165802e-07, 0.3247970640659332], "quat_xyzw": [0.6813498735427856, 0.6813424229621887, 0.18912798166275024, 0.18911774456501007]}, "link_left_finger": {"xyz": [0.2850479781627655, 0.0005006268620491028, 0.29315775632858276], "quat_xyzw": [0.3480534255504608, 0.6155082583427429, 0.6155207753181458, -0.3480553925037384]}, "link_right_finger": {"xyz": [0.21786466240882874, -0.0004980079829692841, 0.2527478039264679], "quat_xyzw": [0.3480534255504608, 0.6155082583427429, 0.6155207753181458, -0.3480553925037384]}}}, {"t": 1.582, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.5544122788924142e-07, 1.18677818775177, 1.1891520023345947, -1.039559006690979, -1.0733750968938693e-05, 1.4184713108988944e-05, 0.037499941885471344, -0.03749983012676239], "target": [-2.6955101345427224e-11, 1.1851452589035034, 1.1924008131027222, -1.0365225076675415, -4.934456662719633e-11, -3.627369585257334e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.3953957259654999, 0.5862271189689636, 0.5862271785736084, -0.3953956067562103]}, "link_3": {"xyz": [-0.07890734821557999, 2.5015324354171753e-05, 0.35877200961112976], "quat_xyzw": [0.0008393601747229695, 0.7071062922477722, -0.7071062922477722, 0.0008392903837375343]}, "link_4": {"xyz": [0.16594955325126648, 2.4996697902679443e-05, 0.4193534553050995], "quat_xyzw": [-0.350483238697052, 0.6141347289085388, -0.6141347289085388, -0.35048332810401917]}, "link_5": {"xyz": [0.23759788274765015, -1.4901161193847656e-08, 0.37573274970054626], "quat_xyzw": [0.614131510257721, 0.6141380071640015, -0.35048139095306396, -0.3504851758480072]}, "link_6": {"xyz": [0.2215445339679718, 3.5623088479042053e-07, 0.3252487778663635], "quat_xyzw": [0.6820918917655945, 0.6820840835571289, 0.18643471598625183, 0.18642479181289673]}, "link_left_finger": {"xyz": [0.2860678434371948, 0.0005003921687602997, 0.29309865832328796], "quat_xyzw": [0.3504825532436371, 0.6141284704208374, 0.614141047000885, -0.35048404335975647]}, "link_right_finger": {"xyz": [0.2185673713684082, -0.0004982762038707733, 0.2532207667827606], "quat_xyzw": [0.3504825532436371, 0.6141284704208374, 0.614141047000885, -0.35048404335975647]}}}, {"t": 1.602, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [7.888776565323496e-08, 1.1952553987503052, 1.197894811630249, -1.0478894710540771, -1.1548871952982154e-05, 1.3902249520469923e-05, 0.03749985620379448, -0.03749999776482582], "target": [-2.8607727298179952e-11, 1.1936149597167969, 1.2011314630508423, -1.0448927879333496, -5.2369896613724265e-11, -3.8497646043245126e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.39787691831588745, 0.5845459699630737, 0.5845459699630737, -0.39787691831588745]}, "link_3": {"xyz": [-0.07682884484529495, 2.5002285838127136e-05, 0.3596016764640808], "quat_xyzw": [0.0009331484325230122, 0.7071061730384827, -0.7071061730384827, 0.0009331949986517429]}, "link_4": {"xyz": [0.16801196336746216, 2.5020912289619446e-05, 0.4202481210231781], "quat_xyzw": [-0.35295695066452026, 0.6127164363861084, -0.6127164363861084, -0.3529569208621979]}, "link_5": {"xyz": [0.23930618166923523, 3.166496753692627e-08, 0.37605100870132446], "quat_xyzw": [0.6127129197120667, 0.6127199530601501, -0.3529548943042755, -0.35295894742012024]}, "link_6": {"xyz": [0.22284621000289917, 4.391185939311981e-07, 0.3256981372833252], "quat_xyzw": [0.6828379034996033, 0.6828305125236511, 0.18368291854858398, 0.18367253243923187]}, "link_left_finger": {"xyz": [0.2871081531047821, 0.0005004554986953735, 0.29302871227264404], "quat_xyzw": [0.3529558479785919, 0.612710177898407, 0.6127227544784546, -0.35295799374580383]}, "link_right_finger": {"xyz": [0.21928822994232178, -0.0004983209073543549, 0.2536965012550354], "quat_xyzw": [0.3529558479785919, 0.612710177898407, 0.6127227544784546, -0.35295799374580383]}}}, {"t": 1.622, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.2110088221106707e-07, 1.203896403312683, 1.2068055868148804, -1.056380033493042, -1.1891385838680435e-05, 1.3535401194531005e-05, 0.03749978169798851, -0.037500109523534775], "target": [-3.029214032390648e-11, 1.2022475004196167, 1.2100300788879395, -1.0534240007400513, -5.545341616453037e-11, -4.07643745148345e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.4003986716270447, 0.5828214883804321, 0.5828214287757874, -0.40039876103401184]}, "link_3": {"xyz": [-0.07470298558473587, 2.4983659386634827e-05, 0.36042916774749756], "quat_xyzw": [0.0010284733725711703, 0.7071060538291931, -0.7071060538291931, 0.0010286535834893584]}, "link_4": {"xyz": [0.1701214611530304, 2.505071461200714e-05, 0.42114168405532837], "quat_xyzw": [-0.35547253489494324, 0.6112604141235352, -0.6112605333328247, -0.3554723858833313]}, "link_5": {"xyz": [0.24104996025562286, 7.636845111846924e-08, 0.3763599693775177], "quat_xyzw": [0.6112567186355591, 0.611264169216156, -0.3554704189300537, -0.3554745316505432]}, "link_6": {"xyz": [0.22417660057544708, 4.987232387065887e-07, 0.32614415884017944], "quat_xyzw": [0.6835868954658508, 0.6835799813270569, 0.18087473511695862, 0.1808640956878662]}, "link_left_finger": {"xyz": [0.288167804479599, 0.0005004927515983582, 0.29294753074645996], "quat_xyzw": [0.3554711639881134, 0.6112542748451233, 0.6112666726112366, -0.3554737865924835]}, "link_right_finger": {"xyz": [0.22002683579921722, -0.0004983693361282349, 0.2541741728782654], "quat_xyzw": [0.3554711639881134, 0.6112542748451233, 0.6112666726112366, -0.3554737865924835]}}}, {"t": 1.6420000000000001, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.931155679812946e-07, 1.2126917839050293, 1.2158769369125366, -1.0650217533111572, -1.2248561688465998e-05, 1.3282528925628867e-05, 0.03749975189566612, -0.037500184029340744], "target": [-3.200674794645586e-11, 1.211034893989563, 1.2190881967544556, -1.0621081590652466, -5.859221441362195e-11, -4.3071737149125155e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.4029579162597656, 0.5810550451278687, 0.5810549855232239, -0.4029580056667328]}, "link_3": {"xyz": [-0.07253191620111465, 2.499110996723175e-05, 0.3612526059150696], "quat_xyzw": [0.001126041286624968, 0.7071059346199036, -0.7071059346199036, 0.0011262032203376293]}, "link_4": {"xyz": [0.17227581143379211, 2.5054439902305603e-05, 0.4220326542854309], "quat_xyzw": [-0.3580262362957001, 0.6097682118415833, -0.609768271446228, -0.35802608728408813]}, "link_5": {"xyz": [0.2428271770477295, 7.264316082000732e-08, 0.3766591548919678], "quat_xyzw": [0.6097644567489624, 0.6097720265388489, -0.358024001121521, -0.3580283224582672]}, "link_6": {"xyz": [0.2255343198776245, 5.010515451431274e-07, 0.3265862464904785], "quat_xyzw": [0.6843373775482178, 0.6843306422233582, 0.17801393568515778, 0.17800316214561462]}, "link_left_finger": {"xyz": [0.2892455756664276, 0.0005005002021789551, 0.292855441570282], "quat_xyzw": [0.3580247461795807, 0.6097620725631714, 0.6097744107246399, -0.3580276072025299]}, "link_right_finger": {"xyz": [0.22078266739845276, -0.0004984252154827118, 0.2546535134315491], "quat_xyzw": [0.3580247461795807, 0.6097620725631714, 0.6097744107246399, -0.3580276072025299]}}}, {"t": 1.6620000000000001, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.0571124537127616e-07, 1.2216336727142334, 1.2250995635986328, -1.073806643486023, -1.2295609849388711e-05, 1.3204551578382961e-05, 0.03749976307153702, -0.037500232458114624], "target": [-3.374996462857105e-11, 1.2199689149856567, 1.2282973527908325, -1.0709372758865356, -6.178338396445326e-11, -4.541760023624164e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.4055517017841339, 0.5792476534843445, 0.5792475938796997, -0.4055517911911011]}, "link_3": {"xyz": [-0.07031736522912979, 2.499110996723175e-05, 0.36207011342048645], "quat_xyzw": [0.0012253181776031852, 0.7071057558059692, -0.7071057558059692, 0.0012254811590537429]}, "link_4": {"xyz": [0.17447325587272644, 2.5054439902305603e-05, 0.4229189157485962], "quat_xyzw": [-0.3606157600879669, 0.6082403659820557, -0.6082404255867004, -0.360615611076355]}, "link_5": {"xyz": [0.24463622272014618, 7.264316082000732e-08, 0.3769470751285553], "quat_xyzw": [0.60823655128479, 0.6082441806793213, -0.36061346530914307, -0.36061787605285645]}, "link_6": {"xyz": [0.22691817581653595, 5.043111741542816e-07, 0.3270229995250702], "quat_xyzw": [0.6850880980491638, 0.6850813031196594, 0.17510254681110382, 0.1750916838645935]}, "link_left_finger": {"xyz": [0.29034027457237244, 0.0005005225539207458, 0.29275164008140564], "quat_xyzw": [0.36061424016952515, 0.6082341074943542, 0.6082466244697571, -0.36061710119247437]}, "link_right_finger": {"xyz": [0.2215549647808075, -0.0004984661936759949, 0.2551333010196686], "quat_xyzw": [0.36061424016952515, 0.6082341074943542, 0.6082466244697571, -0.36061710119247437]}}}, {"t": 1.682, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.571248873233344e-07, 1.2307147979736328, 1.2344640493392944, -1.082729697227478, -1.2309046724112704e-05, 1.2871490980614908e-05, 0.03749980032444, -0.037500251084566116], "target": [-3.5520201363548054e-11, 1.2290414571762085, 1.2376493215560913, -1.0799031257629395, -6.502401395103163e-11, -4.7799819657967646e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.40817761421203613, 0.5774002075195312, 0.5774001479148865, -0.4081777334213257]}, "link_3": {"xyz": [-0.06806085258722305, 2.4983659386634827e-05, 0.36288002133369446], "quat_xyzw": [0.0013254368677735329, 0.7071055769920349, -0.7071055769920349, 0.0013256135862320662]}, "link_4": {"xyz": [0.1767125129699707, 2.505071461200714e-05, 0.423798143863678], "quat_xyzw": [-0.36323991417884827, 0.6066768169403076, -0.6066768765449524, -0.3632397949695587]}, "link_5": {"xyz": [0.24647566676139832, 6.146728992462158e-08, 0.37722182273864746], "quat_xyzw": [0.6066730618476868, 0.606680691242218, -0.3632376492023468, -0.36324208974838257]}, "link_6": {"xyz": [0.2283269464969635, 4.926696419715881e-07, 0.32745271921157837], "quat_xyzw": [0.685837984085083, 0.6858314275741577, 0.17214132845401764, 0.1721305549144745]}, "link_left_finger": {"xyz": [0.2914505898952484, 0.0005005598068237305, 0.2926346957683563], "quat_xyzw": [0.3632383942604065, 0.6066707372665405, 0.6066829562187195, -0.36324137449264526]}, "link_right_finger": {"xyz": [0.22234278917312622, -0.0004985108971595764, 0.25561201572418213], "quat_xyzw": [0.3632383942604065, 0.6066707372665405, 0.6066829562187195, -0.36324137449264526]}}}, {"t": 1.702, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-4.146889409639698e-08, 1.2399262189865112, 1.243963599205017, -1.0917805433273315, -1.155548216047464e-05, 1.2667790542764124e-05, 0.037499845027923584, -0.037500232458114624], "target": [-3.7315865675235926e-11, 1.2382441759109497, 1.2471356391906738, -1.0889978408813477, -6.831119697681132e-11, -5.021625823498077e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.4108326733112335, 0.5755141377449036, 0.5755141377449036, -0.4108326733112335]}, "link_3": {"xyz": [-0.0657646432518959, 2.5002285838127136e-05, 0.3636806309223175], "quat_xyzw": [0.0014274034183472395, 0.7071053385734558, -0.7071053385734558, 0.0014274708228185773]}, "link_4": {"xyz": [0.17899110913276672, 2.5020912289619446e-05, 0.4246692955493927], "quat_xyzw": [-0.3658944368362427, 0.6050795912742615, -0.6050796508789062, -0.3658943772315979]}, "link_5": {"xyz": [0.24834348261356354, 3.166496753692627e-08, 0.37748345732688904], "quat_xyzw": [0.6050760746002197, 0.6050831079483032, -0.36589235067367554, -0.36589646339416504]}, "link_6": {"xyz": [0.2297593653202057, 4.2282044887542725e-07, 0.3278752565383911], "quat_xyzw": [0.6865856051445007, 0.6865789890289307, 0.1691344678401947, 0.16912445425987244]}, "link_left_finger": {"xyz": [0.292575478553772, 0.0005004703998565674, 0.2925054728984833], "quat_xyzw": [0.36589324474334717, 0.6050737500190735, 0.6050854921340942, -0.3658956289291382]}, "link_right_finger": {"xyz": [0.22314594686031342, -0.0004986152052879333, 0.2560897767543793], "quat_xyzw": [0.36589324474334717, 0.6050737500190735, 0.6050854921340942, -0.3658956289291382]}}}, {"t": 1.722, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.575591852542857e-07, 1.2492598295211792, 1.2535897493362427, -1.1009501218795776, -1.1099468792963307e-05, 1.2527769285952672e-05, 0.03749983012676239, -0.03750024363398552], "target": [-3.9135372026377624e-11, 1.24756920337677, 1.2567479610443115, -1.0982133150100708, -7.164201870635267e-11, -5.266478225740556e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.41351404786109924, 0.5735905766487122, 0.5735906362533569, -0.4135139584541321]}, "link_3": {"xyz": [-0.06343052536249161, 2.5015324354171753e-05, 0.3644702732563019], "quat_xyzw": [0.0015308840665966272, 0.7071051597595215, -0.7071051597595215, 0.0015308548463508487]}, "link_4": {"xyz": [0.18130743503570557, 2.5015324354171753e-05, 0.4255305528640747], "quat_xyzw": [-0.36857640743255615, 0.6034496426582336, -0.6034496426582336, -0.36857643723487854]}, "link_5": {"xyz": [0.25023820996284485, 2.60770320892334e-08, 0.37773096561431885], "quat_xyzw": [0.6034463047981262, 0.6034529805183411, -0.3685743808746338, -0.3685784935951233]}, "link_6": {"xyz": [0.2312144637107849, 4.069879651069641e-07, 0.3282896876335144], "quat_xyzw": [0.6873296499252319, 0.6873227953910828, 0.16608527302742004, 0.16607557237148285]}, "link_left_finger": {"xyz": [0.29371413588523865, 0.000500410795211792, 0.29236364364624023], "quat_xyzw": [0.36857542395591736, 0.6034437417984009, 0.6034554839134216, -0.3685774505138397]}, "link_right_finger": {"xyz": [0.22396408021450043, -0.0004986748099327087, 0.25656571984291077], "quat_xyzw": [0.36857542395591736, 0.6034437417984009, 0.6034554839134216, -0.3685774505138397]}}}, {"t": 1.742, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [7.089951736816147e-08, 1.2587075233459473, 1.263333797454834, -1.110231637954712, -1.1944503967242781e-05, 1.2390471965773031e-05, 0.03749977797269821, -0.03750025853514671], "target": [-4.097712447137525e-11, 1.2570081949234009, 1.2664777040481567, -1.1075414419174194, -7.501357174310996e-11, -5.514324413757876e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.41621893644332886, 0.5716308355331421, 0.5716308355331421, -0.41621890664100647]}, "link_3": {"xyz": [-0.06106046587228775, 2.5002285838127136e-05, 0.36524727940559387], "quat_xyzw": [0.0016356287524104118, 0.7071049213409424, -0.7071049213409424, 0.0016356706619262695]}, "link_4": {"xyz": [0.1836593747138977, 2.5024637579917908e-05, 0.42638009786605835], "quat_xyzw": [-0.37128376960754395, 0.6017876267433167, -0.6017876267433167, -0.37128371000289917]}, "link_5": {"xyz": [0.25215786695480347, 2.0489096641540527e-08, 0.3779630959033966], "quat_xyzw": [0.6017840504646301, 0.601791262626648, -0.37128156423568726, -0.37128597497940063]}, "link_6": {"xyz": [0.23269066214561462, 4.377216100692749e-07, 0.32869479060173035], "quat_xyzw": [0.688068687915802, 0.6880621314048767, 0.16299597918987274, 0.16298575699329376]}, "link_left_finger": {"xyz": [0.2948650121688843, 0.0005004703998565674, 0.29220864176750183], "quat_xyzw": [0.3712824583053589, 0.6017817258834839, 0.6017935872077942, -0.3712850511074066]}, "link_right_finger": {"xyz": [0.2247961312532425, -0.0004986226558685303, 0.2570388615131378], "quat_xyzw": [0.3712824583053589, 0.6017817258834839, 0.6017935872077942, -0.3712850511074066]}}}, {"t": 1.762, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.523829323308746e-07, 1.2682610750198364, 1.2731871604919434, -1.1196171045303345, -1.0720819773268886e-05, 1.2196844181744382e-05, 0.03749973326921463, -0.03750026971101761], "target": [-4.283954094241871e-11, 1.2665531635284424, 1.2763166427612305, -1.1169742345809937, -7.842294869053745e-11, -5.764951363507187e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.418944776058197, 0.5696361064910889, 0.5696361660957336, -0.41894468665122986]}, "link_3": {"xyz": [-0.05865652114152908, 2.5015324354171753e-05, 0.36601021885871887], "quat_xyzw": [0.0017416407354176044, 0.7071046829223633, -0.7071046829223633, 0.001741611398756504]}, "link_4": {"xyz": [0.18604499101638794, 2.5015324354171753e-05, 0.42721638083457947], "quat_xyzw": [-0.374013751745224, 0.6000947952270508, -0.6000947952270508, -0.3740137815475464]}, "link_5": {"xyz": [0.2541007697582245, 1.1175870895385742e-08, 0.37817901372909546], "quat_xyzw": [0.6000915169715881, 0.6000980138778687, -0.3740117847919464, -0.37401577830314636]}, "link_6": {"xyz": [0.23418672382831573, 3.832392394542694e-07, 0.32908958196640015], "quat_xyzw": [0.6888020634651184, 0.6887954473495483, 0.15986809134483337, 0.15985868871212006]}, "link_left_finger": {"xyz": [0.2960270345211029, 0.0005003064870834351, 0.292040079832077], "quat_xyzw": [0.3740127980709076, 0.6000890731811523, 0.6001003980636597, -0.3740147650241852]}, "link_right_finger": {"xyz": [0.22564148902893066, -0.0004987567663192749, 0.25750836730003357], "quat_xyzw": [0.3740127980709076, 0.6000890731811523, 0.6001003980636597, -0.3740147650241852]}}}, {"t": 1.782, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.3846234026004822e-07, 1.2779128551483154, 1.2831406593322754, -1.129097819328308, -1.1093640750914346e-05, 1.2027995580865536e-05, 0.03749967738986015, -0.037500303238630295], "target": [-4.472102896335706e-11, 1.276195764541626, 1.2862563133239746, -1.126503586769104, -8.18672421520894e-11, -6.018145010111553e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.42168888449668884, 0.5676077008247375, 0.5676077604293823, -0.4216887950897217]}, "link_3": {"xyz": [-0.056220538914203644, 2.5015324354171753e-05, 0.36675766110420227], "quat_xyzw": [0.0018483215244486928, 0.7071043848991394, -0.7071043848991394, 0.0018482573796063662]}, "link_4": {"xyz": [0.18846246600151062, 2.499297261238098e-05, 0.4280376434326172], "quat_xyzw": [-0.3767639100551605, 0.5983719229698181, -0.5983719229698181, -0.3767639696598053]}, "link_5": {"xyz": [0.2560652494430542, -1.862645149230957e-08, 0.37837767601013184], "quat_xyzw": [0.5983686447143555, 0.5983752608299255, -0.37676185369491577, -0.37676605582237244]}, "link_6": {"xyz": [0.23570145666599274, 3.632158041000366e-07, 0.3294731080532074], "quat_xyzw": [0.6895284652709961, 0.6895219087600708, 0.15670527517795563, 0.15669578313827515]}, "link_left_finger": {"xyz": [0.2971990704536438, 0.0005002506077289581, 0.2918574810028076], "quat_xyzw": [0.37676286697387695, 0.5983662605285645, 0.5983775854110718, -0.3767649233341217]}, "link_right_finger": {"xyz": [0.2264995574951172, -0.0004988089203834534, 0.257973313331604], "quat_xyzw": [0.37676286697387695, 0.5983662605285645, 0.5983775854110718, -0.3767649233341217]}}}, {"t": 1.802, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [5.4700116436379176e-08, 1.2876545190811157, 1.2931873798370361, -1.1386678218841553, -1.1788568372139707e-05, 1.137399158324115e-05, 0.03749963268637657, -0.03750031441450119], "target": [-4.66199995274863e-11, 1.2859280109405518, 1.2962883710861206, -1.1361215114593506, -8.534353779232617e-11, -6.273690594804648e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.42444857954978943, 0.5655470490455627, 0.5655470490455627, -0.42444857954978943]}, "link_3": {"xyz": [-0.053754694759845734, 2.5002285838127136e-05, 0.36748817563056946], "quat_xyzw": [0.0019560898654162884, 0.7071040868759155, -0.7071041464805603, 0.0019561462104320526]}, "link_4": {"xyz": [0.19090962409973145, 2.503208816051483e-05, 0.42884278297424316], "quat_xyzw": [-0.3795318305492401, 0.5966200828552246, -0.5966201424598694, -0.3795318007469177]}, "link_5": {"xyz": [0.2580493986606598, 2.7939677238464355e-08, 0.37855860590934753], "quat_xyzw": [0.5966166257858276, 0.5966236591339111, -0.3795296251773834, -0.3795340359210968]}, "link_6": {"xyz": [0.23723338544368744, 4.3446198105812073e-07, 0.32984480261802673], "quat_xyzw": [0.6902467012405396, 0.690240740776062, 0.15350954234600067, 0.15349969267845154]}, "link_left_finger": {"xyz": [0.2983798682689667, 0.0005003549158573151, 0.2916610538959503], "quat_xyzw": [0.3795304596424103, 0.5966145396232605, 0.5966257452964783, -0.37953320145606995]}, "link_right_finger": {"xyz": [0.22736944258213043, -0.0004987381398677826, 0.25843334197998047], "quat_xyzw": [0.3795304596424103, 0.5966145396232605, 0.5966257452964783, -0.37953320145606995]}}}, {"t": 1.822, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.375302064043353e-08, 1.2974777221679688, 1.3033183813095093, -1.1483161449432373, -1.1977580470556859e-05, 1.1229989468120039e-05, 0.03749961778521538, -0.03750031441450119], "target": [-4.853486362810244e-11, 1.2957416772842407, 1.3064043521881104, -1.1458200216293335, -8.884892127580812e-11, -6.531375440488318e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.4272211492061615, 0.5634554624557495, 0.5634555220603943, -0.4272211492061615]}, "link_3": {"xyz": [-0.05126110464334488, 2.5002285838127136e-05, 0.368200421333313], "quat_xyzw": [0.0020649710204452276, 0.7071037888526917, -0.7071037292480469, 0.002065003616735339]}, "link_4": {"xyz": [0.1933842897415161, 2.5002285838127136e-05, 0.4296303391456604], "quat_xyzw": [-0.38231411576271057, 0.5948411822319031, -0.5948411822319031, -0.3823140263557434]}, "link_5": {"xyz": [0.2600514888763428, 2.0489096641540527e-08, 0.3787212371826172], "quat_xyzw": [0.5948376059532166, 0.5948447585105896, -0.38231179118156433, -0.38231635093688965]}, "link_6": {"xyz": [0.2387813925743103, 4.2980536818504333e-07, 0.33020398020744324], "quat_xyzw": [0.6909560561180115, 0.6909500956535339, 0.1502843201160431, 0.1502743810415268]}, "link_left_finger": {"xyz": [0.2995685338973999, 0.0005003437399864197, 0.29145076870918274], "quat_xyzw": [0.3823126256465912, 0.5948355197906494, 0.594846785068512, -0.38231542706489563]}, "link_right_finger": {"xyz": [0.22825083136558533, -0.0004987269639968872, 0.25888776779174805], "quat_xyzw": [0.3823126256465912, 0.5948355197906494, 0.594846785068512, -0.38231542706489563]}}}, {"t": 1.842, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.66479537710984e-07, 1.3073737621307373, 1.313524603843689, -1.1580380201339722, -1.1304746294626966e-05, 1.1099159564764705e-05, 0.037499576807022095, -0.03750033304095268], "target": [-5.046403225850149e-11, 1.3056286573410034, 1.3165960311889648, -1.1555908918380737, -9.238049908377732e-11, -6.790985135340932e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.43000397086143494, 0.5613346695899963, 0.5613347887992859, -0.4300038516521454]}, "link_3": {"xyz": [-0.04874209314584732, 2.5000423192977905e-05, 0.36889317631721497], "quat_xyzw": [0.0021747048012912273, 0.7071034908294678, -0.7071034908294678, 0.0021746212150901556]}, "link_4": {"xyz": [0.19588428735733032, 2.4985522031784058e-05, 0.43039900064468384], "quat_xyzw": [-0.385109007358551, 0.5930355191230774, -0.5930354595184326, -0.3851090669631958]}, "link_5": {"xyz": [0.2620694041252136, -1.862645149230957e-08, 0.37886470556259155], "quat_xyzw": [0.5930321216583252, 0.59303879737854, -0.3851068317890167, -0.3851112127304077]}, "link_6": {"xyz": [0.2403436303138733, 3.7904828786849976e-07, 0.33054977655410767], "quat_xyzw": [0.6916556358337402, 0.6916496157646179, 0.14703093469142914, 0.14702150225639343]}, "link_left_finger": {"xyz": [0.3007633686065674, 0.000500217080116272, 0.29122617840766907], "quat_xyzw": [0.38510778546333313, 0.5930300354957581, 0.593040943145752, -0.38511019945144653]}, "link_right_finger": {"xyz": [0.22914236783981323, -0.0004988387227058411, 0.25933584570884705], "quat_xyzw": [0.38510778546333313, 0.5930300354957581, 0.593040943145752, -0.38511019945144653]}}}, {"t": 1.862, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-3.600940701176114e-08, 1.3173350095748901, 1.323798418045044, -1.1678228378295898, -1.1880229976668488e-05, 1.1038349839509465e-05, 0.03749961405992508, -0.03750027343630791], "target": [-5.2405912942532495e-11, 1.3155808448791504, 1.3268547058105469, -1.1654261350631714, -9.593534300300632e-11, -7.052305267540859e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.43279436230659485, 0.5591860413551331, 0.5591860413551331, -0.43279436230659485]}, "link_3": {"xyz": [-0.046199627220630646, 2.5002285838127136e-05, 0.36956527829170227], "quat_xyzw": [0.002285101916640997, 0.7071031332015991, -0.7071031332015991, 0.0022851673420518637]}, "link_4": {"xyz": [0.19840753078460693, 2.503208816051483e-05, 0.4311475455760956], "quat_xyzw": [-0.38791343569755554, 0.5912048816680908, -0.5912048816680908, -0.38791337609291077]}, "link_5": {"xyz": [0.2641015350818634, 4.284083843231201e-08, 0.37898868322372437], "quat_xyzw": [0.5912013053894043, 0.5912084579467773, -0.3879111111164093, -0.3879157304763794]}, "link_6": {"xyz": [0.24191907048225403, 4.651956260204315e-07, 0.3308817148208618], "quat_xyzw": [0.6923441290855408, 0.6923382878303528, 0.14375373721122742, 0.1437438428401947]}, "link_left_finger": {"xyz": [0.30196359753608704, 0.0005003921687602997, 0.2909875810146332], "quat_xyzw": [0.38791194558143616, 0.5911993384361267, 0.5912104249000549, -0.3879148066043854]}, "link_right_finger": {"xyz": [0.23004376888275146, -0.0004986599087715149, 0.2597770690917969], "quat_xyzw": [0.38791194558143616, 0.5911993384361267, 0.5912104249000549, -0.3879148066043854]}}}, {"t": 1.8820000000000001, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.7553479498010347e-09, 1.327353835105896, 1.3341299295425415, -1.17766535282135, -1.2045986295561306e-05, 1.086990687326761e-05, 0.03749970346689224, -0.037500206381082535], "target": [-5.4358920142938416e-11, 1.3255900144577026, 1.337172269821167, -1.1753177642822266, -9.95105595147372e-11, -7.31512350693464e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.43559011816978455, 0.5570110082626343, 0.5570110082626343, -0.43559011816978455]}, "link_3": {"xyz": [-0.043635882437229156, 2.5002285838127136e-05, 0.37021568417549133], "quat_xyzw": [0.0023956524673849344, 0.7071027159690857, -0.7071027159690857, 0.0023957244120538235]}, "link_4": {"xyz": [0.2009519338607788, 2.502836287021637e-05, 0.43187442421913147], "quat_xyzw": [-0.3907260596752167, 0.5893497467041016, -0.5893498063087463, -0.3907259702682495]}, "link_5": {"xyz": [0.26614588499069214, 3.166496753692627e-08, 0.37909188866615295], "quat_xyzw": [0.589346170425415, 0.5893534421920776, -0.39072370529174805, -0.3907283544540405]}, "link_6": {"xyz": [0.24350599944591522, 4.55416738986969e-07, 0.331198513507843], "quat_xyzw": [0.6930211186408997, 0.693015456199646, 0.14045320451259613, 0.14044323563575745]}, "link_left_finger": {"xyz": [0.3031676411628723, 0.0005004927515983582, 0.2907339930534363], "quat_xyzw": [0.3907244801521301, 0.5893442630767822, 0.5893553495407104, -0.39072751998901367]}, "link_right_finger": {"xyz": [0.2309536337852478, -0.0004986003041267395, 0.2602102756500244], "quat_xyzw": [0.3907244801521301, 0.5893442630767822, 0.5893553495407104, -0.39072751998901367]}}}, {"t": 1.9020000000000001, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [3.4061861242662417e-07, 1.3374215364456177, 1.3445130586624146, -1.1875531673431396, -1.325283847108949e-05, 1.0435017429699656e-05, 0.03749983385205269, -0.03750011324882507], "target": [-5.6321461383568305e-11, 1.3356480598449707, 1.3475401401519775, -1.1852576732635498, -1.031032342835303e-10, -7.579224053921862e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.4383883774280548, 0.5548112988471985, 0.5548111796379089, -0.43838855624198914]}, "link_3": {"xyz": [-0.04105318337678909, 2.500973641872406e-05, 0.3708433210849762], "quat_xyzw": [0.0025071031413972378, 0.707102358341217, -0.707102358341217, 0.002507393015548587]}, "link_4": {"xyz": [0.2035152018070221, 2.5114044547080994e-05, 0.43257924914360046], "quat_xyzw": [-0.3935423195362091, 0.5874729156494141, -0.5874730348587036, -0.39354208111763]}, "link_5": {"xyz": [0.26820093393325806, 1.3969838619232178e-07, 0.379175066947937], "quat_xyzw": [0.5874689817428589, 0.5874770283699036, -0.3935396671295166, -0.3935447633266449]}, "link_6": {"xyz": [0.2451036423444748, 6.039626896381378e-07, 0.3315006196498871], "quat_xyzw": [0.6936851739883423, 0.6936799883842468, 0.13713514804840088, 0.13712440431118011]}, "link_left_finger": {"xyz": [0.30437520146369934, 0.0005008727312088013, 0.2904668152332306], "quat_xyzw": [0.39354026317596436, 0.58746737241745, 0.5874786376953125, -0.39354419708251953]}, "link_right_finger": {"xyz": [0.2318723499774933, -0.0004983097314834595, 0.26063576340675354], "quat_xyzw": [0.39354026317596436, 0.58746737241745, 0.5874786376953125, -0.39354419708251953]}}}, {"t": 1.922, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [4.7262116709134716e-07, 1.3475303649902344, 1.3549388647079468, -1.1974791288375854, -1.380015783070121e-05, 1.0149606168852188e-05, 0.03750003129243851, -0.037499990314245224], "target": [-5.829195459661207e-11, 1.3457468748092651, 1.3579500913619995, -1.1952378749847412, -1.0671045297394599e-10, -7.844394578349068e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.4411870241165161, 0.5525885224342346, 0.5525882840156555, -0.4411872923374176]}, "link_3": {"xyz": [-0.03845376521348953, 2.4983659386634827e-05, 0.3714474141597748], "quat_xyzw": [0.002619045553728938, 0.7071019411087036, -0.7071020007133484, 0.00261948280967772]}, "link_4": {"xyz": [0.20609506964683533, 2.5151297450065613e-05, 0.43326082825660706], "quat_xyzw": [-0.3963604271411896, 0.5855752825737, -0.5855755805969238, -0.3963600993156433]}, "link_5": {"xyz": [0.2702646851539612, 1.9185245037078857e-07, 0.3792375326156616], "quat_xyzw": [0.5855712294578552, 0.5855796337127686, -0.3963576853275299, -0.396362841129303]}, "link_6": {"xyz": [0.24671034514904022, 6.509944796562195e-07, 0.33178719878196716], "quat_xyzw": [0.6943357586860657, 0.6943309903144836, 0.13380080461502075, 0.13378983736038208]}, "link_left_finger": {"xyz": [0.3055848777294159, 0.0005011744797229767, 0.2901857793331146], "quat_xyzw": [0.39635804295539856, 0.5855698585510254, 0.5855809450149536, -0.39636242389678955]}, "link_right_finger": {"xyz": [0.23279869556427002, -0.0004981309175491333, 0.2610527575016022], "quat_xyzw": [0.39635804295539856, 0.5855698585510254, 0.5855809450149536, -0.39636242389678955]}}}, {"t": 1.942, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [9.868487893527345e-08, 1.3576712608337402, 1.3653981685638428, -1.2074387073516846, -1.2697345482592937e-05, 1.0053335245174821e-05, 0.03750021010637283, -0.03749990090727806], "target": [-6.026879689757791e-11, 1.355878233909607, 1.3683935403823853, -1.2052501440048218, -1.1032930818943854e-10, -8.110420668394624e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.4439832866191864, 0.5503443479537964, 0.5503442883491516, -0.44398337602615356]}, "link_3": {"xyz": [-0.035840101540088654, 2.5006011128425598e-05, 0.3720269501209259], "quat_xyzw": [0.0027318052016198635, 0.7071015238761902, -0.7071015238761902, 0.0027319586370140314]}, "link_4": {"xyz": [0.20868897438049316, 2.506561577320099e-05, 0.4339182376861572], "quat_xyzw": [-0.3991784453392029, 0.5836579203605652, -0.58365797996521, -0.3991783559322357]}, "link_5": {"xyz": [0.2723347544670105, 7.636845111846924e-08, 0.3792788088321686], "quat_xyzw": [0.5836542248725891, 0.5836617350578308, -0.3991759121417999, -0.39918091893196106]}, "link_6": {"xyz": [0.24832405149936676, 5.150213837623596e-07, 0.33205777406692505], "quat_xyzw": [0.6949729323387146, 0.6949676871299744, 0.13045184314250946, 0.13044168055057526]}, "link_left_finger": {"xyz": [0.30679479241371155, 0.0005011148750782013, 0.28989067673683167], "quat_xyzw": [0.3991766571998596, 0.5836525559425354, 0.5836634635925293, -0.399180144071579]}, "link_right_finger": {"xyz": [0.23373112082481384, -0.0004982240498065948, 0.2614607512950897], "quat_xyzw": [0.3991766571998596, 0.5836525559425354, 0.5836634635925293, -0.399180144071579]}}}, {"t": 1.962, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-3.8595963758325524e-08, 1.367836833000183, 1.3758816719055176, -1.2174232006072998, -1.2083900401194114e-05, 9.95326536212815e-06, 0.03750026226043701, -0.03749985992908478], "target": [-6.225041315754964e-11, 1.3660340309143066, 1.3788621425628662, -1.2152867317199707, -1.139568925334622e-10, -8.377087912236902e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.44677484035491943, 0.5480805039405823, 0.5480805039405823, -0.44677484035491943]}, "link_3": {"xyz": [-0.03321421891450882, 2.5002285838127136e-05, 0.37258121371269226], "quat_xyzw": [0.002844245173037052, 0.7071011066436768, -0.7071011066436768, 0.002844306407496333]}, "link_4": {"xyz": [0.2112952470779419, 2.503208816051483e-05, 0.4345502555370331], "quat_xyzw": [-0.4019947946071625, 0.5817217826843262, -0.581721842288971, -0.4019947350025177]}, "link_5": {"xyz": [0.2744098901748657, 4.284083843231201e-08, 0.3792981505393982], "quat_xyzw": [0.5817182660102844, 0.5817252993583679, -0.4019922912120819, -0.4019971191883087]}, "link_6": {"xyz": [0.24994385242462158, 4.707835614681244e-07, 0.3323114216327667], "quat_xyzw": [0.6955953240394592, 0.6955899596214294, 0.12709106504917145, 0.12708139419555664]}, "link_left_finger": {"xyz": [0.308004230260849, 0.0005010925233364105, 0.2895810902118683], "quat_xyzw": [0.40199318528175354, 0.5817164778709412, 0.5817270874977112, -0.4019962251186371]}, "link_right_finger": {"xyz": [0.23466917872428894, -0.0004982836544513702, 0.2618587613105774], "quat_xyzw": [0.40199318528175354, 0.5817164778709412, 0.5817270874977112, -0.4019962251186371]}}}, {"t": 1.982, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [8.45927488057896e-08, 1.3780189752578735, 1.386383056640625, -1.227421522140503, -1.2488364518503658e-05, 9.680064067651983e-06, 0.03750024363398552, -0.037499841302633286], "target": [-6.423520743092936e-11, 1.3762061595916748, 1.3893476724624634, -1.2253392934799194, -1.1759029860947123e-10, -8.644183285833051e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.4495593309402466, 0.5457988977432251, 0.5457988381385803, -0.44955942034721375]}, "link_3": {"xyz": [-0.03057859279215336, 2.499110996723175e-05, 0.3731096684932709], "quat_xyzw": [0.0029570679180324078, 0.7071006298065186, -0.7071006298065186, 0.002957226475700736]}, "link_4": {"xyz": [0.2139110565185547, 2.5054439902305603e-05, 0.43515676259994507], "quat_xyzw": [-0.40480536222457886, 0.579769492149353, -0.5797696113586426, -0.4048052132129669]}, "link_5": {"xyz": [0.27648797631263733, 7.264316082000732e-08, 0.37929636240005493], "quat_xyzw": [0.5797658562660217, 0.5797732472419739, -0.4048027992248535, -0.4048077464103699]}, "link_6": {"xyz": [0.2515683174133301, 5.005858838558197e-07, 0.3325486481189728], "quat_xyzw": [0.6962020397186279, 0.6961970329284668, 0.12372337281703949, 0.123713418841362]}, "link_left_finger": {"xyz": [0.30921241641044617, 0.0005011558532714844, 0.28925833106040955], "quat_xyzw": [0.4048035144805908, 0.579764187335968, 0.579774796962738, -0.4048070013523102]}, "link_right_finger": {"xyz": [0.23561245203018188, -0.0004982240498065948, 0.26224714517593384], "quat_xyzw": [0.4048035144805908, 0.579764187335968, 0.579774796962738, -0.4048070013523102]}}}, {"t": 2.002, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.4409229720513395e-07, 1.3882092237472534, 1.396892786026001, -1.2374274730682373, -1.2589390280481894e-05, 9.104535820370074e-06, 0.03750024735927582, -0.03749980032444], "target": [-6.622159071101308e-11, 1.3863863945007324, 1.399841547012329, -1.2353999614715576, -1.21226612082026e-10, -8.911492377361441e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.4523344039916992, 0.5435012578964233, 0.5435011982917786, -0.4523344933986664]}, "link_3": {"xyz": [-0.027935603633522987, 2.499110996723175e-05, 0.37361159920692444], "quat_xyzw": [0.0030699623748660088, 0.7071001529693604, -0.7071001529693604, 0.0030701395589858294]}, "link_4": {"xyz": [0.21653424203395844, 2.5058165192604065e-05, 0.4357367753982544], "quat_xyzw": [-0.40760862827301025, 0.5778021216392517, -0.5778021812438965, -0.4076084792613983]}, "link_5": {"xyz": [0.2785671353340149, 7.636845111846924e-08, 0.37927284836769104], "quat_xyzw": [0.5777983665466309, 0.5778058767318726, -0.4076060354709625, -0.40761110186576843]}, "link_6": {"xyz": [0.25319579243659973, 5.131587386131287e-07, 0.3327687084674835], "quat_xyzw": [0.6967929005622864, 0.6967882513999939, 0.12035001814365387, 0.1203400120139122]}, "link_left_finger": {"xyz": [0.31041786074638367, 0.0005012005567550659, 0.2889220714569092], "quat_xyzw": [0.4076066315174103, 0.5777969360351562, 0.5778073072433472, -0.4076104164123535]}, "link_right_finger": {"xyz": [0.2365596890449524, -0.0004981644451618195, 0.2626250088214874], "quat_xyzw": [0.4076066315174103, 0.5777969360351562, 0.5778073072433472, -0.4076104164123535]}}}, {"t": 2.022, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [7.871562957006972e-08, 1.3983993530273438, 1.407402515411377, -1.2474337816238403, -1.2507305655162781e-05, 8.800583600532264e-06, 0.0375002846121788, -0.03749973326921463], "target": [-6.820797399109679e-11, 1.3965665102005005, 1.4103353023529053, -1.2454606294631958, -1.2486292555458078e-10, -9.17880146888983e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.4550977051258087, 0.5411894917488098, 0.5411894917488098, -0.4550977051258087]}, "link_3": {"xyz": [-0.025287697091698647, 2.5002285838127136e-05, 0.37408655881881714], "quat_xyzw": [0.0031830426305532455, 0.7070996165275574, -0.7070996165275574, 0.0031831006053835154]}, "link_4": {"xyz": [0.21916218101978302, 2.5020912289619446e-05, 0.43628984689712524], "quat_xyzw": [-0.41040223836898804, 0.5758211612701416, -0.5758212208747864, -0.41040217876434326]}, "link_5": {"xyz": [0.2806451916694641, 2.421438694000244e-08, 0.3792276978492737], "quat_xyzw": [0.5758175253868103, 0.5758247971534729, -0.4103996753692627, -0.4104047119617462]}, "link_6": {"xyz": [0.25482460856437683, 4.6333298087120056e-07, 0.3329714834690094], "quat_xyzw": [0.6973675489425659, 0.697363018989563, 0.11697373539209366, 0.11696403473615646]}, "link_left_finger": {"xyz": [0.31161925196647644, 0.0005011819303035736, 0.28857263922691345], "quat_xyzw": [0.4104003608226776, 0.5758161544799805, 0.5758262276649475, -0.4104040265083313]}, "link_right_finger": {"xyz": [0.2375098466873169, -0.0004981867969036102, 0.2629922330379486], "quat_xyzw": [0.4104003608226776, 0.5758161544799805, 0.5758262276649475, -0.4104040265083313]}}}, {"t": 2.042, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-7.129845158715398e-09, 1.4085808992385864, 1.4179034233093262, -1.2574334144592285, -1.2182263162685558e-05, 8.809533937892411e-06, 0.03750026971101761, -0.0374998077750206], "target": [-7.019276826447651e-11, 1.4067386388778687, 1.4208208322525024, -1.2555131912231445, -1.2849632469169592e-10, -9.445896842485979e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.45784685015678406, 0.5388656854629517, 0.5388656854629517, -0.45784685015678406]}, "link_3": {"xyz": [-0.02263728715479374, 2.5002285838127136e-05, 0.37453415989875793], "quat_xyzw": [0.0032959752716124058, 0.7070990800857544, -0.7070990800857544, 0.0032960441894829273]}, "link_4": {"xyz": [0.22179269790649414, 2.5024637579917908e-05, 0.4368155598640442], "quat_xyzw": [-0.4131844639778137, 0.5738281011581421, -0.5738281011581421, -0.41318440437316895]}, "link_5": {"xyz": [0.28272050619125366, 3.5390257835388184e-08, 0.37916091084480286], "quat_xyzw": [0.5738245248794556, 0.5738316178321838, -0.41318193078041077, -0.4131869375705719]}, "link_6": {"xyz": [0.25645333528518677, 4.568137228488922e-07, 0.3331567943096161], "quat_xyzw": [0.6979255676269531, 0.6979208588600159, 0.11359699070453644, 0.1135874092578888]}, "link_left_finger": {"xyz": [0.3128155767917633, 0.0005011372268199921, 0.2882102429866791], "quat_xyzw": [0.41318267583847046, 0.5738229751586914, 0.5738331079483032, -0.41318610310554504]}, "link_right_finger": {"xyz": [0.23846200108528137, -0.0004982687532901764, 0.26334846019744873], "quat_xyzw": [0.41318267583847046, 0.5738229751586914, 0.5738331079483032, -0.41318610310554504]}}}, {"t": 2.062, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.0929608151855064e-07, 1.4187474250793457, 1.4283874034881592, -1.2674155235290527, -1.2605060874193441e-05, 8.404100299230777e-06, 0.03750026598572731, -0.03749988228082657], "target": [-7.217438452444824e-11, 1.4168944358825684, 1.4312894344329834, -1.2655497789382935, -1.3212390903571958e-10, -9.712564086328257e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.46058011054992676, 0.5365314483642578, 0.536531388759613, -0.46058017015457153]}, "link_3": {"xyz": [-0.019986459985375404, 2.5006011128425598e-05, 0.3749541938304901], "quat_xyzw": [0.0034081845078617334, 0.7070986032485962, -0.7070986032485962, 0.0034083358477801085]}, "link_4": {"xyz": [0.22442381083965302, 2.506561577320099e-05, 0.4373131990432739], "quat_xyzw": [-0.41595253348350525, 0.5718246698379517, -0.5718247890472412, -0.4159523844718933]}, "link_5": {"xyz": [0.2847915291786194, 7.636845111846924e-08, 0.3790724277496338], "quat_xyzw": [0.5718210935592651, 0.5718284845352173, -0.4159499406814575, -0.4159550666809082]}, "link_6": {"xyz": [0.25808101892471313, 5.01750037074089e-07, 0.3333243131637573], "quat_xyzw": [0.6984661221504211, 0.6984618306159973, 0.11022323369979858, 0.11021344363689423]}, "link_left_finger": {"xyz": [0.3140062093734741, 0.0005012229084968567, 0.28783518075942993], "quat_xyzw": [0.41595056653022766, 0.5718197822570801, 0.5718297362327576, -0.41595444083213806]}, "link_right_finger": {"xyz": [0.23941582441329956, -0.0004982985556125641, 0.26369309425354004], "quat_xyzw": [0.41595056653022766, 0.5718197822570801, 0.5718297362327576, -0.41595444083213806]}}}, {"t": 2.082, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [3.3685603284538956e-07, 1.4288891553878784, 1.4388461112976074, -1.2773734331130981, -1.336807144980412e-05, 8.134160452755168e-06, 0.037500280886888504, -0.03749992325901985], "target": [-7.415122682541408e-11, 1.4270257949829102, 1.4417328834533691, -1.275562047958374, -1.3574277812899993e-10, -9.978590176373814e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.46329477429389954, 0.5341890454292297, 0.5341888666152954, -0.46329498291015625]}, "link_3": {"xyz": [-0.017337867990136147, 2.4994835257530212e-05, 0.37534627318382263], "quat_xyzw": [0.003520114114508033, 0.7070980072021484, -0.7070980072021484, 0.0035204484593123198]}, "link_4": {"xyz": [0.22705256938934326, 2.510659396648407e-05, 0.4377827048301697], "quat_xyzw": [-0.4187043011188507, 0.5698128938674927, -0.569813072681427, -0.4187040328979492]}, "link_5": {"xyz": [0.2868559956550598, 1.3224780559539795e-07, 0.3789626359939575], "quat_xyzw": [0.5698090195655823, 0.5698169469833374, -0.4187014698982239, -0.41870686411857605]}, "link_6": {"xyz": [0.25970563292503357, 5.860347300767899e-07, 0.33347418904304504], "quat_xyzw": [0.6989891529083252, 0.6989852786064148, 0.10685522854328156, 0.10684491693973541]}, "link_left_finger": {"xyz": [0.3151896893978119, 0.0005014017224311829, 0.2874479591846466], "quat_xyzw": [0.4187018871307373, 0.5698079466819763, 0.5698180198669434, -0.41870641708374023]}, "link_right_finger": {"xyz": [0.2403700351715088, -0.0004982203245162964, 0.26402613520622253], "quat_xyzw": [0.4187018871307373, 0.5698079466819763, 0.5698180198669434, -0.41870641708374023]}}}, {"t": 2.102, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [5.266832090455864e-07, 1.4389969110488892, 1.4492723941802979, -1.287299633026123, -1.417486146237934e-05, 8.027086551010143e-06, 0.03750038892030716, -0.03749985620379448], "target": [-7.612172003845785e-11, 1.4371246099472046, 1.4521428346633911, -1.2855422496795654, -1.3934998988052172e-10, -1.0243760700801019e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.46598854660987854, 0.5318408012390137, 0.5318405628204346, -0.46598881483078003]}, "link_3": {"xyz": [-0.014694342389702797, 2.4983659386634827e-05, 0.37571027874946594], "quat_xyzw": [0.003632682142779231, 0.7070974707603455, -0.7070974707603455, 0.0036331117153167725]}, "link_4": {"xyz": [0.2296762615442276, 2.5140121579170227e-05, 0.43822455406188965], "quat_xyzw": [-0.42143675684928894, 0.567794919013977, -0.5677952170372009, -0.4214364290237427]}, "link_5": {"xyz": [0.2889118194580078, 1.73225998878479e-07, 0.3788326382637024], "quat_xyzw": [0.5677908658981323, 0.5677992105484009, -0.4214337468147278, -0.42143940925598145]}, "link_6": {"xyz": [0.2613256871700287, 6.544869393110275e-07, 0.33360713720321655], "quat_xyzw": [0.6994943022727966, 0.6994905471801758, 0.10349641740322113, 0.10348568856716156]}, "link_left_finger": {"xyz": [0.31636497378349304, 0.000501628965139389, 0.2870499789714813], "quat_xyzw": [0.42143410444259644, 0.5677899122238159, 0.5678001642227173, -0.4214390516281128]}, "link_right_finger": {"xyz": [0.24132375419139862, -0.0004980601370334625, 0.2643480598926544], "quat_xyzw": [0.42143410444259644, 0.5677899122238159, 0.5678001642227173, -0.4214390516281128]}}}, {"t": 2.122, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [4.7487850451943814e-07, 1.4490660429000854, 1.4596556425094604, -1.297183632850647, -1.4152003132039681e-05, 7.854455361666624e-06, 0.037500519305467606, -0.03749978169798851], "target": [-7.808426127908774e-11, 1.4471826553344727, 1.4625107049942017, -1.2954821586608887, -1.4294265771042092e-10, -1.0507861247788242e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.4686602056026459, 0.5294880270957947, 0.5294878482818604, -0.46866047382354736]}, "link_3": {"xyz": [-0.012057492509484291, 2.4983659386634827e-05, 0.37604638934135437], "quat_xyzw": [0.0037437924183905125, 0.7070968747138977, -0.7070968747138977, 0.00374418287537992]}, "link_4": {"xyz": [0.23229341208934784, 2.5121495127677917e-05, 0.4386374354362488], "quat_xyzw": [-0.4241487383842468, 0.5657719373703003, -0.5657721161842346, -0.42414844036102295]}, "link_5": {"xyz": [0.29095789790153503, 1.5459954738616943e-07, 0.37868139147758484], "quat_xyzw": [0.5657678842544556, 0.5657762289047241, -0.4241456985473633, -0.4241515100002289]}, "link_6": {"xyz": [0.26294025778770447, 6.391201168298721e-07, 0.33372193574905396], "quat_xyzw": [0.6999815106391907, 0.6999777555465698, 0.10014830529689789, 0.10013749450445175]}, "link_left_finger": {"xyz": [0.3175314664840698, 0.0005017518997192383, 0.2866401970386505], "quat_xyzw": [0.4241460859775543, 0.5657668709754944, 0.5657771825790405, -0.42415109276771545]}, "link_right_finger": {"xyz": [0.24227644503116608, -0.0004979930818080902, 0.2646574378013611], "quat_xyzw": [0.4241460859775543, 0.5657668709754944, 0.5657771825790405, -0.42415109276771545]}}}, {"t": 2.142, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [3.455925252637826e-07, 1.4590851068496704, 1.469988465309143, -1.3070213794708252, -1.3737494555243757e-05, 7.592302608827595e-06, 0.037500638514757156, -0.03749973699450493], "target": [-8.003726847949366e-11, 1.457191824913025, 1.4728282690048218, -1.3053737878799438, -1.465178811610457e-10, -1.0770679487182022e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.4713068902492523, 0.5271336436271667, 0.5271334648132324, -0.47130706906318665]}, "link_3": {"xyz": [-0.009430507197976112, 2.500973641872406e-05, 0.376354455947876], "quat_xyzw": [0.0038547462318092585, 0.7070963382720947, -0.7070963382720947, 0.0038550584577023983]}, "link_4": {"xyz": [0.2349008172750473, 2.512894570827484e-05, 0.4390221834182739], "quat_xyzw": [-0.42683812975883484, 0.5637457370758057, -0.56374591588974, -0.42683789134025574]}, "link_5": {"xyz": [0.29299163818359375, 1.6205012798309326e-07, 0.37851011753082275], "quat_xyzw": [0.5637418031692505, 0.5637498497962952, -0.42683517932891846, -0.4268408715724945]}, "link_6": {"xyz": [0.26454707980155945, 6.279442459344864e-07, 0.33381953835487366], "quat_xyzw": [0.7004503607749939, 0.7004467248916626, 0.09681366384029388, 0.09680318087339401]}, "link_left_finger": {"xyz": [0.31868743896484375, 0.0005018487572669983, 0.2862200140953064], "quat_xyzw": [0.4268355667591095, 0.5637407898902893, 0.5637508034706116, -0.4268404245376587]}, "link_right_finger": {"xyz": [0.24322646856307983, -0.0004979893565177917, 0.2649550139904022], "quat_xyzw": [0.4268355667591095, 0.5637407898902893, 0.5637508034706116, -0.4268404245376587]}}}, {"t": 2.162, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [3.056368029774603e-07, 1.4690463542938232, 1.480263590812683, -1.316803216934204, -1.3634430615638848e-05, 7.047832696116529e-06, 0.037500761449337006, -0.03749968856573105], "target": [-8.197915263297162e-11, 1.4671440124511719, 1.4830869436264038, -1.3152090311050415, -1.500727320191686e-10, -1.1031999619381949e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.4739264249801636, 0.5247796773910522, 0.5247794985771179, -0.4739266335964203]}, "link_3": {"xyz": [-0.006815651431679726, 2.4994835257530212e-05, 0.3766345679759979], "quat_xyzw": [0.003965726122260094, 0.7070956826210022, -0.7070956826210022, 0.003966080024838448]}, "link_4": {"xyz": [0.23749591410160065, 2.5121495127677917e-05, 0.4393789768218994], "quat_xyzw": [-0.42950209975242615, 0.561718761920929, -0.5617190003395081, -0.42950180172920227]}, "link_5": {"xyz": [0.2950112223625183, 1.471489667892456e-07, 0.378319650888443], "quat_xyzw": [0.5617148876190186, 0.5617228746414185, -0.42949917912483215, -0.42950475215911865]}, "link_6": {"xyz": [0.2661448121070862, 6.030313670635223e-07, 0.3339003920555115], "quat_xyzw": [0.7009006142616272, 0.7008973956108093, 0.09349661320447922, 0.09348634630441666]}, "link_left_finger": {"xyz": [0.31983205676078796, 0.0005019605159759521, 0.28579044342041016], "quat_xyzw": [0.42949944734573364, 0.5617141127586365, 0.5617236495018005, -0.4295044243335724]}, "link_right_finger": {"xyz": [0.24417313933372498, -0.0004980079829692841, 0.26524078845977783], "quat_xyzw": [0.42949944734573364, 0.5617141127586365, 0.5617236495018005, -0.4295044243335724]}}}, {"t": 2.182, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.3393204767453426e-07, 1.4789429903030396, 1.4904707670211792, -1.3265212774276733, -1.323452488577459e-05, 6.925971320015378e-06, 0.03750082850456238, -0.03749968111515045], "target": [-8.390831779392371e-11, 1.4770309925079346, 1.4932786226272583, -1.3249799013137817, -1.5360429594935e-10, -1.1291609314234563e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.4765174686908722, 0.5224281549453735, 0.522428035736084, -0.47651755809783936]}, "link_3": {"xyz": [-0.004215249791741371, 2.5006011128425598e-05, 0.37688711285591125], "quat_xyzw": [0.004075575619935989, 0.7070950865745544, -0.7070950865745544, 0.004075784236192703]}, "link_4": {"xyz": [0.24007686972618103, 2.508796751499176e-05, 0.4397073984146118], "quat_xyzw": [-0.43213942646980286, 0.5596923232078552, -0.5596924424171448, -0.43213924765586853]}, "link_5": {"xyz": [0.2970151901245117, 1.0617077350616455e-07, 0.37810972332954407], "quat_xyzw": [0.5596886277198792, 0.5596961975097656, -0.43213653564453125, -0.4321421682834625]}, "link_6": {"xyz": [0.2677322030067444, 5.662441253662109e-07, 0.33396396040916443], "quat_xyzw": [0.7013327479362488, 0.7013291716575623, 0.09019862860441208, 0.0901886522769928]}, "link_left_finger": {"xyz": [0.320964515209198, 0.0005019456148147583, 0.28535109758377075], "quat_xyzw": [0.43213704228401184, 0.559687614440918, 0.5596972107887268, -0.43214157223701477]}, "link_right_finger": {"xyz": [0.24511563777923584, -0.0004980526864528656, 0.2655141353607178], "quat_xyzw": [0.43213704228401184, 0.559687614440918, 0.5596972107887268, -0.43214157223701477]}}}, {"t": 2.202, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.4505616263704724e-07, 1.4887663125991821, 1.5006017684936523, -1.336166501045227, -1.2114711353206076e-05, 6.628832579735899e-06, 0.03750082105398178, -0.03749970346689224], "target": [-8.582318189453986e-11, 1.4868446588516235, 1.503394603729248, -1.3346784114837646, -1.5710968637172584e-10, -1.1549294159918233e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.47907784581184387, 0.5200812220573425, 0.5200813412666321, -0.4790777266025543]}, "link_3": {"xyz": [-0.0016316864639520645, 2.5015324354171753e-05, 0.3771122992038727], "quat_xyzw": [0.004184477496892214, 0.7070944309234619, -0.7070944309234619, 0.004184373654425144]}, "link_4": {"xyz": [0.24264109134674072, 2.4985522031784058e-05, 0.4400077164173126], "quat_xyzw": [-0.43474772572517395, 0.5576687455177307, -0.5576686859130859, -0.4347478151321411]}, "link_5": {"xyz": [0.2990017831325531, -1.862645149230957e-08, 0.3778810501098633], "quat_xyzw": [0.5576654076576233, 0.5576720833778381, -0.43474507331848145, -0.43475043773651123]}, "link_6": {"xyz": [0.26930785179138184, 4.156026989221573e-07, 0.33401066064834595], "quat_xyzw": [0.7017463445663452, 0.7017425894737244, 0.08692280203104019, 0.08691371232271194]}, "link_left_finger": {"xyz": [0.3220839202404022, 0.0005017071962356567, 0.2849028408527374], "quat_xyzw": [0.4347458779811859, 0.5576642155647278, 0.5576732754707336, -0.43474963307380676]}, "link_right_finger": {"xyz": [0.246053084731102, -0.0004982911050319672, 0.2657749354839325], "quat_xyzw": [0.4347458779811859, 0.5576642155647278, 0.5576732754707336, -0.43474963307380676]}}}, {"t": 2.222, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-3.9512133298558183e-07, 1.4985082149505615, 1.5106488466262817, -1.3457319736480713, -1.130335840571206e-05, 6.702485279674875e-06, 0.037500716745853424, -0.03749980032444], "target": [-8.772214898922215e-11, 1.4965769052505493, 1.513426661491394, -1.3442963361740112, -1.6058598895085652e-10, -1.180484043850072e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.4816054403781891, 0.5177415013313293, 0.5177416205406189, -0.48160529136657715]}, "link_3": {"xyz": [0.0009325053542852402, 2.501159906387329e-05, 0.37731054425239563], "quat_xyzw": [0.004292392171919346, 0.7070937752723694, -0.7070937752723694, 0.004292272962629795]}, "link_4": {"xyz": [0.24518606066703796, 2.4974346160888672e-05, 0.4402804970741272], "quat_xyzw": [-0.4373251497745514, 0.5556498765945435, -0.5556497573852539, -0.43732523918151855]}, "link_5": {"xyz": [0.30096903443336487, -2.9802322387695312e-08, 0.37763458490371704], "quat_xyzw": [0.5556467175483704, 0.5556528568267822, -0.4373226761817932, -0.43732771277427673]}, "link_6": {"xyz": [0.2708701491355896, 3.762543201446533e-07, 0.3340410590171814], "quat_xyzw": [0.7021413445472717, 0.7021374106407166, 0.08367235958576202, 0.08366390317678452]}, "link_left_finger": {"xyz": [0.3231891691684723, 0.0005015097558498383, 0.2844466269016266], "quat_xyzw": [0.43732357025146484, 0.5556454062461853, 0.5556541681289673, -0.4373267889022827]}, "link_right_finger": {"xyz": [0.24698449671268463, -0.0004984810948371887, 0.2660236358642578], "quat_xyzw": [0.43732357025146484, 0.5556454062461853, 0.5556541681289673, -0.4373267889022827]}}}, {"t": 2.242, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.2676539995482017e-07, 1.5081614255905151, 1.5206034183502197, -1.3552067279815674, -1.194936157844495e-05, 6.625574314966798e-06, 0.037500523030757904, -0.03749990463256836], "target": [-8.96036370101605e-11, 1.506219506263733, 1.5233663320541382, -1.3538256883621216, -1.6403027547351456e-10, -1.205803373816039e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.48409873247146606, 0.5154109597206116, 0.5154110789299011, -0.4840986430644989]}, "link_3": {"xyz": [0.003475150093436241, 2.4985522031784058e-05, 0.3774823248386383], "quat_xyzw": [0.004398887977004051, 0.7070931196212769, -0.7070930600166321, 0.004398826509714127]}, "link_4": {"xyz": [0.24770967662334442, 2.4959444999694824e-05, 0.4405258893966675], "quat_xyzw": [-0.4398691654205322, 0.5536381006240845, -0.5536380410194397, -0.4398691952228546]}, "link_5": {"xyz": [0.30291563272476196, -4.470348358154297e-08, 0.3773708939552307], "quat_xyzw": [0.553634762763977, 0.5536413788795471, -0.4398665428161621, -0.43987181782722473]}, "link_6": {"xyz": [0.2724181115627289, 3.7834979593753815e-07, 0.3340553045272827], "quat_xyzw": [0.7025176286697388, 0.7025138735771179, 0.08045122772455215, 0.08044227212667465]}, "link_left_finger": {"xyz": [0.3242800235748291, 0.0005013719201087952, 0.2839829921722412], "quat_xyzw": [0.4398673474788666, 0.5536335706710815, 0.5536425709724426, -0.43987101316452026]}, "link_right_finger": {"xyz": [0.2479095309972763, -0.0004985518753528595, 0.2662598490715027], "quat_xyzw": [0.4398673474788666, 0.5536335706710815, 0.5536425709724426, -0.43987101316452026]}}}, {"t": 2.262, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.9332847500663775e-07, 1.5177161693572998, 1.5304572582244873, -1.364587426185608, -1.1672932487272192e-05, 6.306106115516741e-06, 0.037500299513339996, -0.037500038743019104], "target": [-9.146605695065091e-11, 1.5157644748687744, 1.533205270767212, -1.3632584810256958, -1.6743964548204815e-10, -1.2308659647075615e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.4865554869174957, 0.5130923390388489, 0.5130924582481384, -0.48655539751052856]}, "link_3": {"xyz": [0.005993416532874107, 2.5000423192977905e-05, 0.3776281774044037], "quat_xyzw": [0.004504676442593336, 0.7070924639701843, -0.7070924639701843, 0.0045045833103358746]}, "link_4": {"xyz": [0.25020915269851685, 2.497062087059021e-05, 0.4407447874546051], "quat_xyzw": [-0.44237855076789856, 0.5516350865364075, -0.5516350269317627, -0.44237861037254333]}, "link_5": {"xyz": [0.3048393130302429, -3.3527612686157227e-08, 0.37709105014801025], "quat_xyzw": [0.5516318678855896, 0.5516382455825806, -0.44237595796585083, -0.44238120317459106]}, "link_6": {"xyz": [0.27394968271255493, 3.7462450563907623e-07, 0.33405420184135437], "quat_xyzw": [0.7028756141662598, 0.7028719186782837, 0.07726035267114639, 0.07725163549184799]}, "link_left_finger": {"xyz": [0.3253546953201294, 0.0005011409521102905, 0.28351297974586487], "quat_xyzw": [0.4423767626285553, 0.5516306161880493, 0.5516394376754761, -0.44238030910491943]}, "link_right_finger": {"xyz": [0.24882641434669495, -0.0004987120628356934, 0.2664840817451477], "quat_xyzw": [0.4423767626285553, 0.5516306161880493, 0.5516394376754761, -0.44238030910491943]}}}, {"t": 2.282, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.6005499503535248e-07, 1.527165174484253, 1.5402028560638428, -1.3738597631454468, -1.2766304280376062e-05, 6.06175308348611e-06, 0.03750012069940567, -0.03750013932585716], "target": [-9.330781286509549e-11, 1.5252034664154053, 1.5429350137710571, -1.3725866079330444, -1.7081121239659325e-10, -1.2556507222871716e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.48897409439086914, 0.5107880234718323, 0.5107879042625427, -0.4889741837978363]}, "link_3": {"xyz": [0.008485009893774986, 2.5020912289619446e-05, 0.3777487576007843], "quat_xyzw": [0.004609368741512299, 0.7070918083190918, -0.7070918083190918, 0.004609580617398024]}, "link_4": {"xyz": [0.25268206000328064, 2.5099143385887146e-05, 0.4409378170967102], "quat_xyzw": [-0.4448498487472534, 0.5496440529823303, -0.5496441721916199, -0.4448496699333191]}, "link_5": {"xyz": [0.30673864483833313, 1.0989606380462646e-07, 0.37679630517959595], "quat_xyzw": [0.5496405363082886, 0.5496477484703064, -0.4448469877243042, -0.4448525607585907]}, "link_6": {"xyz": [0.27546393871307373, 5.515757948160172e-07, 0.33403846621513367], "quat_xyzw": [0.7032150030136108, 0.7032118439674377, 0.07410556823015213, 0.07409603893756866]}, "link_left_finger": {"xyz": [0.32641327381134033, 0.000501241534948349, 0.2830379009246826], "quat_xyzw": [0.4448475241661072, 0.5496396422386169, 0.549648642539978, -0.4448520243167877]}, "link_right_finger": {"xyz": [0.24973523616790771, -0.0004985854029655457, 0.266696572303772], "quat_xyzw": [0.4448475241661072, 0.5496396422386169, 0.549648642539978, -0.4448520243167877]}}}, {"t": 2.302, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.422974934139347e-07, 1.5364991426467896, 1.5498300790786743, -1.38302481174469, -1.4482739061350003e-05, 5.573605903919088e-06, 0.037500105798244476, -0.03750009834766388], "target": [-9.512731574679023e-11, 1.5345284938812256, 1.5525473356246948, -1.3818020820617676, -1.741420341261346e-10, -1.280135858428011e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070671081543, 0.7071065902709961]}, "link_2": {"xyz": [0.020000001415610313, 2.5015324354171753e-05, 0.11400000005960464], "quat_xyzw": [0.4913524091243744, 0.5085005164146423, 0.5085002183914185, -0.49135273694992065]}, "link_3": {"xyz": [0.010947337374091148, 2.5000423192977905e-05, 0.3778447210788727], "quat_xyzw": [0.0047129299491643906, 0.7070910930633545, -0.7070910930633545, 0.004713452886790037]}, "link_4": {"xyz": [0.2551257610321045, 2.5186687707901e-05, 0.4411053955554962], "quat_xyzw": [-0.4472837448120117, 0.5476652979850769, -0.5476656556129456, -0.4472833275794983]}, "link_5": {"xyz": [0.3086112141609192, 2.1979212760925293e-07, 0.3764868378639221], "quat_xyzw": [0.547661304473877, 0.5476696491241455, -0.44728049635887146, -0.44728660583496094]}, "link_6": {"xyz": [0.2769584059715271, 6.994232535362244e-07, 0.334008127450943], "quat_xyzw": [0.7035363912582397, 0.7035340666770935, 0.07098603993654251, 0.07097545266151428]}, "link_left_finger": {"xyz": [0.32745325565338135, 0.0005015097558498383, 0.28255754709243774], "quat_xyzw": [0.447280615568161, 0.5476608872413635, 0.5476700663566589, -0.447286456823349]}, "link_right_finger": {"xyz": [0.25063326954841614, -0.0004983395338058472, 0.26689714193344116], "quat_xyzw": [0.447280615568161, 0.5476608872413635, 0.5476700663566589, -0.447286456823349]}}}, {"t": 2.3219999999999996, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.779363512672717e-07, 1.5457112789154053, 1.5593308210372925, -1.392067313194275, -1.3540206964535173e-05, 5.419307854026556e-06, 0.037500083446502686, -0.0375000461935997], "target": [-9.692297658903115e-11, 1.5437312126159668, 1.5620336532592773, -1.3908967971801758, -1.7742921021302038e-10, -1.3043002788926117e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.49368950724601746, 0.5062319040298462, 0.5062317252159119, -0.4936896860599518]}, "link_3": {"xyz": [0.013378193601965904, 2.500973641872406e-05, 0.37791696190834045], "quat_xyzw": [0.004815052263438702, 0.707090437412262, -0.707090437412262, 0.0048153758980333805]}, "link_4": {"xyz": [0.25753840804100037, 2.512894570827484e-05, 0.4412480890750885], "quat_xyzw": [-0.449676513671875, 0.545702338218689, -0.5457025766372681, -0.4496762752532959]}, "link_5": {"xyz": [0.31045612692832947, 1.471489667892456e-07, 0.3761638104915619], "quat_xyzw": [0.5456985831260681, 0.5457062721252441, -0.44967347383499146, -0.44967934489250183]}, "link_6": {"xyz": [0.278432697057724, 6.130430847406387e-07, 0.3339638113975525], "quat_xyzw": [0.703840434551239, 0.7038378715515137, 0.06790563464164734, 0.06789566576480865]}, "link_left_finger": {"xyz": [0.3284752070903778, 0.0005013458430767059, 0.2820731997489929], "quat_xyzw": [0.44967377185821533, 0.5456979870796204, 0.5457068681716919, -0.44967901706695557]}, "link_right_finger": {"xyz": [0.2515210807323456, -0.0004984252154827118, 0.26708588004112244], "quat_xyzw": [0.44967377185821533, 0.5456979870796204, 0.5457068681716919, -0.44967901706695557]}}}, {"t": 2.3419999999999996, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.8627710574037337e-07, 1.554793119430542, 1.568697214126587, -1.4009822607040405, -1.3275151104608085e-05, 5.0594239837664645e-06, 0.037500105798244476, -0.03749998286366463], "target": [-9.869321332400816e-11, 1.5528037548065186, 1.5713856220245361, -1.3998626470565796, -1.8066984019959875e-10, -1.3281224731098717e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.49598315358161926, 0.503984808921814, 0.5039846897125244, -0.4959832727909088]}, "link_3": {"xyz": [0.015775343403220177, 2.499110996723175e-05, 0.3779661953449249], "quat_xyzw": [0.004915675614029169, 0.7070897221565247, -0.7070897221565247, 0.004915921948850155]}, "link_4": {"xyz": [0.2599174976348877, 2.50842422246933e-05, 0.4413667917251587], "quat_xyzw": [-0.4520270824432373, 0.5437568426132202, -0.5437570214271545, -0.452026903629303]}, "link_5": {"xyz": [0.3122715651988983, 1.0244548320770264e-07, 0.37582823634147644], "quat_xyzw": [0.5437532663345337, 0.5437606573104858, -0.45202410221099854, -0.45202991366386414]}, "link_6": {"xyz": [0.2798851430416107, 5.490146577358246e-07, 0.3339061737060547], "quat_xyzw": [0.70412677526474, 0.704124391078949, 0.06486769765615463, 0.06485803425312042]}, "link_left_finger": {"xyz": [0.3294779658317566, 0.000501289963722229, 0.2815856337547302], "quat_xyzw": [0.4520244002342224, 0.5437526702880859, 0.5437611937522888, -0.4520295560359955]}, "link_right_finger": {"xyz": [0.252397358417511, -0.0004984475672245026, 0.2672629654407501], "quat_xyzw": [0.4520244002342224, 0.5437526702880859, 0.5437611937522888, -0.4520295560359955]}}}, {"t": 2.3619999999999997, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [3.7221488469185715e-07, 1.5637366771697998, 1.577920913696289, -1.4097596406936646, -1.3802477951685432e-05, 4.471604825084796e-06, 0.037500157952308655, -0.037499938160181046], "target": [-1.0043643000612335e-10, 1.5617377758026123, 1.580594778060913, -1.4086917638778687, -1.8386100975043007e-10, -1.351581069286567e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.4982318878173828, 0.5017619132995605, 0.5017617344856262, -0.49823206663131714]}, "link_3": {"xyz": [0.01813625358045101, 2.4994835257530212e-05, 0.3779934346675873], "quat_xyzw": [0.005014673341065645, 0.7070890069007874, -0.7070890069007874, 0.005015001632273197]}, "link_4": {"xyz": [0.2622606158256531, 2.510659396648407e-05, 0.4414624273777008], "quat_xyzw": [-0.45433327555656433, 0.5418314337730408, -0.5418316721916199, -0.45433300733566284]}, "link_5": {"xyz": [0.3140558898448944, 1.3224780559539795e-07, 0.37548136711120605], "quat_xyzw": [0.5418276786804199, 0.5418354272842407, -0.45433011651039124, -0.45433616638183594]}, "link_6": {"xyz": [0.2813144028186798, 6.00004568696022e-07, 0.33383598923683167], "quat_xyzw": [0.7043957710266113, 0.7043938636779785, 0.06187571957707405, 0.06186568737030029]}, "link_left_finger": {"xyz": [0.33046090602874756, 0.0005014650523662567, 0.2810959219932556], "quat_xyzw": [0.4543302655220032, 0.5418273210525513, 0.5418357253074646, -0.4543359875679016]}, "link_right_finger": {"xyz": [0.25326135754585266, -0.000498354434967041, 0.26742878556251526], "quat_xyzw": [0.4543302655220032, 0.5418273210525513, 0.5418357253074646, -0.4543359875679016]}}}, {"t": 2.3819999999999997, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.8121516493229137e-07, 1.572533130645752, 1.5869932174682617, -1.418393850326538, -1.3693171240447555e-05, 4.191362677374855e-06, 0.03750024363398552, -0.03749985992908478], "target": [-1.0215104456756663e-10, 1.5705251693725586, 1.5896528959274292, -1.417375922203064, -1.869998045300747e-10, -1.3746546956294736e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5004339218139648, 0.4995656907558441, 0.4995655119419098, -0.5004341006278992]}, "link_3": {"xyz": [0.020458539947867393, 2.500973641872406e-05, 0.37799957394599915], "quat_xyzw": [0.005112198181450367, 0.70708829164505, -0.70708829164505, 0.005112505983561277]}, "link_4": {"xyz": [0.2645653784275055, 2.5114044547080994e-05, 0.4415358901023865], "quat_xyzw": [-0.45659369230270386, 0.5399279594421387, -0.539928138256073, -0.45659345388412476]}, "link_5": {"xyz": [0.3158073425292969, 1.3969838619232178e-07, 0.3751242160797119], "quat_xyzw": [0.5399242639541626, 0.5399318933486938, -0.45659056305885315, -0.45659661293029785]}, "link_6": {"xyz": [0.2827189266681671, 6.111804395914078e-07, 0.3337539732456207], "quat_xyzw": [0.7046481370925903, 0.7046462893486023, 0.05893133208155632, 0.058921411633491516]}, "link_left_finger": {"xyz": [0.3314228653907776, 0.0005015358328819275, 0.2806049883365631], "quat_xyzw": [0.45659077167510986, 0.539923906326294, 0.5399322509765625, -0.4565964639186859]}, "link_right_finger": {"xyz": [0.25411176681518555, -0.0004982650279998779, 0.26758354902267456], "quat_xyzw": [0.45659077167510986, 0.539923906326294, 0.5399322509765625, -0.4565964639186859]}}}, {"t": 2.4019999999999997, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [4.487832256927504e-07, 1.581174612045288, 1.5959051847457886, -1.4268772602081299, -1.4253991139412392e-05, 4.152681412961101e-06, 0.03750034421682358, -0.03749975934624672], "target": [-1.038354541238462e-10, 1.5791577100753784, 1.5985515117645264, -1.4259071350097656, -1.900833240808808e-10, -1.3973219803453674e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.5025877356529236, 0.49739885330200195, 0.49739858508110046, -0.5025879740715027]}, "link_3": {"xyz": [0.022739818319678307, 2.502836287021637e-05, 0.37798580527305603], "quat_xyzw": [0.005207786336541176, 0.7070876359939575, -0.7070876359939575, 0.0052082110196352005]}, "link_4": {"xyz": [0.2668294906616211, 2.5181099772453308e-05, 0.4415881633758545], "quat_xyzw": [-0.4588070809841156, 0.5380484461784363, -0.5380486845970154, -0.45880675315856934]}, "link_5": {"xyz": [0.31752434372901917, 2.2165477275848389e-07, 0.37475788593292236], "quat_xyzw": [0.5380445718765259, 0.5380525588989258, -0.45880377292633057, -0.45881009101867676]}, "link_6": {"xyz": [0.28409725427627563, 6.910413503646851e-07, 0.3336607813835144], "quat_xyzw": [0.7048841714859009, 0.7048823833465576, 0.056037452071905136, 0.056027110666036606]}, "link_left_finger": {"xyz": [0.3323630392551422, 0.000501781702041626, 0.2801135778427124], "quat_xyzw": [0.4588038921356201, 0.5380442142486572, 0.5380527973175049, -0.4588099420070648]}, "link_right_finger": {"xyz": [0.2549476623535156, -0.0004980601370334625, 0.2677275538444519], "quat_xyzw": [0.4588038921356201, 0.5380442142486572, 0.5380527973175049, -0.4588099420070648]}}}, {"t": 2.4219999999999997, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [4.796116286343022e-07, 1.589652419090271, 1.6046500205993652, -1.435199499130249, -1.4465595995716285e-05, 4.111655471206177e-06, 0.03750048577785492, -0.03749963268637657], "target": [-1.0548808354604589e-10, 1.5876274108886719, 1.6072821617126465, -1.4342774152755737, -1.9310865406740874e-10, -1.4195615516410243e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.5046916007995605, 0.495263934135437, 0.4952636659145355, -0.5046918392181396]}, "link_3": {"xyz": [0.024977734312415123, 2.5013461709022522e-05, 0.37795305252075195], "quat_xyzw": [0.00530219217762351, 0.7070869207382202, -0.7070869207382202, 0.005302623379975557]}, "link_4": {"xyz": [0.26905038952827454, 2.516619861125946e-05, 0.4416205883026123], "quat_xyzw": [-0.46097037196159363, 0.536196231842041, -0.5361964702606201, -0.46097004413604736]}, "link_5": {"xyz": [0.31920528411865234, 1.993030309677124e-07, 0.3743841350078583], "quat_xyzw": [0.5361922979354858, 0.5362004041671753, -0.46096697449684143, -0.46097344160079956]}, "link_6": {"xyz": [0.285448282957077, 6.832415238022804e-07, 0.3335576355457306], "quat_xyzw": [0.7051041126251221, 0.7051023840904236, 0.05319816619157791, 0.05318763107061386]}, "link_left_finger": {"xyz": [0.33328118920326233, 0.0005019307136535645, 0.2796233892440796], "quat_xyzw": [0.460967093706131, 0.536191999912262, 0.5362006425857544, -0.46097332239151]}, "link_right_finger": {"xyz": [0.2557685077190399, -0.0004979260265827179, 0.2678613066673279], "quat_xyzw": [0.460967093706131, 0.536191999912262, 0.5362006425857544, -0.46097332239151]}}}, {"t": 2.4419999999999997, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.2781789255077456e-07, 1.5979604721069336, 1.6132172346115112, -1.443353295326233, -1.3685291378351394e-05, 3.949579422624083e-06, 0.03750065714120865, -0.03749952092766762], "target": [-1.0710732994967387e-10, 1.5959261655807495, 1.615836501121521, -1.4424785375595093, -1.9607289403200667e-10, -1.4413518989453422e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5067446827888489, 0.493163138628006, 0.4931630492210388, -0.5067448019981384]}, "link_3": {"xyz": [0.027170410379767418, 2.499110996723175e-05, 0.37790265679359436], "quat_xyzw": [0.005393941421061754, 0.7070862650871277, -0.7070862650871277, 0.005394156090915203]}, "link_4": {"xyz": [0.27122658491134644, 2.5073066353797913e-05, 0.4416334629058838], "quat_xyzw": [-0.4630832076072693, 0.5343725085258484, -0.5343726277351379, -0.46308308839797974]}, "link_5": {"xyz": [0.32084909081459045, 8.381903171539307e-08, 0.37400317192077637], "quat_xyzw": [0.5343688726425171, 0.5343762636184692, -0.4630800187587738, -0.46308624744415283]}, "link_6": {"xyz": [0.2867707908153534, 5.583278834819794e-07, 0.3334444463253021], "quat_xyzw": [0.705308735370636, 0.7053067088127136, 0.05041416734457016, 0.05040435120463371]}, "link_left_finger": {"xyz": [0.3341764211654663, 0.0005019083619117737, 0.27913427352905273], "quat_xyzw": [0.46308037638664246, 0.5343683958053589, 0.5343767404556274, -0.4630858600139618]}, "link_right_finger": {"xyz": [0.256573349237442, -0.0004980005323886871, 0.26798444986343384], "quat_xyzw": [0.46308037638664246, 0.5343683958053589, 0.5343767404556274, -0.4630858600139618]}}}, {"t": 2.4619999999999997, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [8.605110224380041e-08, 1.6060885190963745, 1.6216000318527222, -1.4513310194015503, -1.3285784007166512e-05, 3.790255277635879e-06, 0.03750075027346611, -0.03749942034482956], "target": [-1.0869161820581397e-10, 1.6040456295013428, 1.6242060661315918, -1.4505027532577515, -1.9897311576144716e-10, -1.4626717892429753e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5087447166442871, 0.49109962582588196, 0.4910995364189148, -0.5087448358535767]}, "link_3": {"xyz": [0.029315194115042686, 2.499110996723175e-05, 0.37783560156822205], "quat_xyzw": [0.005483983084559441, 0.7070855498313904, -0.7070855498313904, 0.005484184715896845]}, "link_4": {"xyz": [0.2733551561832428, 2.506934106349945e-05, 0.4416285455226898], "quat_xyzw": [-0.46514323353767395, 0.5325803160667419, -0.5325804352760315, -0.4651431143283844]}, "link_5": {"xyz": [0.32245388627052307, 8.009374141693115e-08, 0.373617023229599], "quat_xyzw": [0.5325767993927002, 0.5325839519500732, -0.465140163898468, -0.4651462137699127]}, "link_6": {"xyz": [0.2880633771419525, 5.288748070597649e-07, 0.333322674036026], "quat_xyzw": [0.7054980397224426, 0.7054961323738098, 0.04769003763794899, 0.04768053814768791]}, "link_left_finger": {"xyz": [0.3350481688976288, 0.0005019605159759521, 0.2786479890346527], "quat_xyzw": [0.4651404619216919, 0.532576322555542, 0.5325843691825867, -0.4651458263397217]}, "link_right_finger": {"xyz": [0.2573612630367279, -0.0004979707300662994, 0.2680978775024414], "quat_xyzw": [0.4651404619216919, 0.532576322555542, 0.5325843691825867, -0.4651458263397217]}}}, {"t": 2.4819999999999998, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.0914943260331711e-07, 1.6140294075012207, 1.629789113998413, -1.4591246843338013, -1.3198806300351862e-05, 3.602912784117507e-06, 0.037500765174627304, -0.03749934956431389], "target": [-1.1023934542997438e-10, 1.6119776964187622, 1.6323825120925903, -1.4583417177200317, -2.0180643267586618e-10, -1.4834997119628213e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5106905698776245, 0.48907577991485596, 0.4890756905078888, -0.5106906890869141]}, "link_3": {"xyz": [0.03141000121831894, 2.499110996723175e-05, 0.37775328755378723], "quat_xyzw": [0.005571726709604263, 0.7070848941802979, -0.7070848345756531, 0.0055719176307320595]}, "link_4": {"xyz": [0.27543410658836365, 2.5058165192604065e-05, 0.4416067898273468], "quat_xyzw": [-0.4671492576599121, 0.530821681022644, -0.5308217406272888, -0.4671490788459778]}, "link_5": {"xyz": [0.3240182399749756, 7.636845111846924e-08, 0.37322673201560974], "quat_xyzw": [0.5308181047439575, 0.5308253169059753, -0.467146098613739, -0.4671522080898285]}, "link_6": {"xyz": [0.28932470083236694, 5.356268957257271e-07, 0.33319300413131714], "quat_xyzw": [0.7056728601455688, 0.7056710720062256, 0.04502807930111885, 0.04501848667860031]}, "link_left_finger": {"xyz": [0.3358955979347229, 0.0005019791424274445, 0.27816537022590637], "quat_xyzw": [0.4671464264392853, 0.5308176875114441, 0.5308257341384888, -0.4671519696712494]}, "link_right_finger": {"xyz": [0.2581312656402588, -0.000497870147228241, 0.2682017683982849], "quat_xyzw": [0.4671464264392853, 0.5308176875114441, 0.5308257341384888, -0.4671519696712494]}}}, {"t": 2.502, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-3.791800651242738e-08, 1.6217745542526245, 1.6377766132354736, -1.46672523021698, -1.2754859199048951e-05, 3.302990535303252e-06, 0.03750070929527283, -0.037499360740184784], "target": [-1.1174893649323892e-10, 1.619714379310608, 1.640357494354248, -1.4659874439239502, -2.0456990268424846e-10, -1.5038142953116562e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5125807523727417, 0.4870944023132324, 0.4870944023132324, -0.5125807523727417]}, "link_3": {"xyz": [0.03345244377851486, 2.5002285838127136e-05, 0.377657026052475], "quat_xyzw": [0.0056574996560812, 0.7070841789245605, -0.7070841193199158, 0.005657559726387262]}, "link_4": {"xyz": [0.2774609923362732, 2.5017186999320984e-05, 0.4415696859359741], "quat_xyzw": [-0.4690989553928375, 0.5290994644165039, -0.5290994644165039, -0.46909886598587036]}, "link_5": {"xyz": [0.325540691614151, 2.7939677238464355e-08, 0.3728339970111847], "quat_xyzw": [0.5290960669517517, 0.5291028618812561, -0.469095915555954, -0.4691018760204315]}, "link_6": {"xyz": [0.2905535101890564, 4.727626219391823e-07, 0.33305665850639343], "quat_xyzw": [0.7058336734771729, 0.7058320045471191, 0.04243137314915657, 0.04242219403386116]}, "link_left_finger": {"xyz": [0.33671823143959045, 0.0005018450319766998, 0.27768781781196594], "quat_xyzw": [0.46909624338150024, 0.5290955901145935, 0.5291032791137695, -0.46910154819488525]}, "link_right_finger": {"xyz": [0.2588827610015869, -0.0004980005323886871, 0.2682966887950897], "quat_xyzw": [0.46909624338150024, 0.5290955901145935, 0.5291032791137695, -0.46910154819488525]}}}, {"t": 2.522, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [8.47822860805536e-08, 1.6293145418167114, 1.6455546617507935, -1.4741276502609253, -1.296336813538801e-05, 3.028051423825673e-06, 0.03750061243772507, -0.03749937191605568], "target": [-1.1321878851111578e-10, 1.6272474527359009, 1.6481226682662964, -1.473431944847107, -2.072606530845178e-10, -1.5235943062741342e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5144134163856506, 0.4851585626602173, 0.4851584732532501, -0.5144134759902954]}, "link_3": {"xyz": [0.035440005362033844, 2.5006011128425598e-05, 0.37754809856414795], "quat_xyzw": [0.005741622764617205, 0.7070834636688232, -0.7070834636688232, 0.005741774570196867]}, "link_4": {"xyz": [0.27943331003189087, 2.5058165192604065e-05, 0.4415188431739807], "quat_xyzw": [-0.4709912836551666, 0.5274155735969543, -0.5274156928062439, -0.4709911644458771]}, "link_5": {"xyz": [0.3270193040370941, 6.891787052154541e-08, 0.3724404573440552], "quat_xyzw": [0.5274121761322021, 0.5274191498756409, -0.4709882438182831, -0.470994234085083]}, "link_6": {"xyz": [0.291748046875, 5.163019523024559e-07, 0.332914799451828], "quat_xyzw": [0.7059810161590576, 0.705979585647583, 0.03990272432565689, 0.039893440902233124]}, "link_left_finger": {"xyz": [0.3375149071216583, 0.0005018152296543121, 0.2772166430950165], "quat_xyzw": [0.4709884524345398, 0.5274118781089783, 0.5274194478988647, -0.4709939956665039]}, "link_right_finger": {"xyz": [0.25961410999298096, -0.000497967004776001, 0.26838335394859314], "quat_xyzw": [0.4709884524345398, 0.5274118781089783, 0.5274194478988647, -0.4709939956665039]}}}, {"t": 2.542, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [3.3953170941458666e-07, 1.6366441249847412, 1.6531137228012085, -1.4813189506530762, -1.3866632798453793e-05, 2.788008487186744e-06, 0.03750050812959671, -0.03749934583902359], "target": [-1.1464731941579487e-10, 1.634568691253662, 1.6556694507598877, -1.480667233467102, -2.0987575566344674e-10, -1.542818095501275e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5161879658699036, 0.48327016830444336, 0.48326998949050903, -0.5161881446838379]}, "link_3": {"xyz": [0.03737122565507889, 2.500973641872406e-05, 0.3774279057979584], "quat_xyzw": [0.005822636652737856, 0.7070828676223755, -0.7070828676223755, 0.005822968203574419]}, "link_4": {"xyz": [0.2813499867916107, 2.5132670998573303e-05, 0.4414546489715576], "quat_xyzw": [-0.472824364900589, 0.5257728099822998, -0.5257730484008789, -0.4728241264820099]}, "link_5": {"xyz": [0.3284538984298706, 1.5087425708770752e-07, 0.37204664945602417], "quat_xyzw": [0.5257692337036133, 0.525776743888855, -0.47282111644744873, -0.4728274345397949]}, "link_6": {"xyz": [0.29290831089019775, 6.129266694188118e-07, 0.3327674865722656], "quat_xyzw": [0.7061154842376709, 0.7061143517494202, 0.03744533658027649, 0.037435486912727356]}, "link_left_finger": {"xyz": [0.3382863402366638, 0.000501878559589386, 0.2767520844936371], "quat_xyzw": [0.4728211760520935, 0.5257691144943237, 0.5257768630981445, -0.47282734513282776]}, "link_right_finger": {"xyz": [0.26032593846321106, -0.000497814267873764, 0.26846134662628174], "quat_xyzw": [0.4728211760520935, 0.5257691144943237, 0.5257768630981445, -0.47282734513282776]}}}, {"t": 2.562, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.5339676312796655e-07, 1.6437530517578125, 1.6604461669921875, -1.4882943630218506, -1.370661902910797e-05, 2.7863550258189207e-06, 0.03750045597553253, -0.03749927133321762], "target": [-1.160329402005722e-10, 1.6416699886322021, 1.6629894971847534, -1.487685203552246, -2.1241229608559564e-10, -1.5614645687556106e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5179024338722229, 0.48143234848976135, 0.481432169675827, -0.5179026126861572]}, "link_3": {"xyz": [0.03924345225095749, 2.500973641872406e-05, 0.3772977292537689], "quat_xyzw": [0.00590171106159687, 0.707082211971283, -0.707082211971283, 0.005902021657675505]}, "link_4": {"xyz": [0.28320786356925964, 2.512894570827484e-05, 0.44137901067733765], "quat_xyzw": [-0.47459661960601807, 0.5241736173629761, -0.5241738557815552, -0.47459641098976135]}, "link_5": {"xyz": [0.32984209060668945, 1.3969838619232178e-07, 0.37165457010269165], "quat_xyzw": [0.5241701006889343, 0.5241774916648865, -0.4745934009552002, -0.4745996594429016]}, "link_6": {"xyz": [0.29403209686279297, 5.984911695122719e-07, 0.33261629939079285], "quat_xyzw": [0.7062379121780396, 0.706236720085144, 0.0350613072514534, 0.03505156934261322]}, "link_left_finger": {"xyz": [0.3390308916568756, 0.0005017966032028198, 0.2762957811355591], "quat_xyzw": [0.47459349036216736, 0.5241699814796448, 0.5241776704788208, -0.47459954023361206]}, "link_right_finger": {"xyz": [0.26101627945899963, -0.0004977546632289886, 0.26853159070014954], "quat_xyzw": [0.47459349036216736, 0.5241699814796448, 0.5241776704788208, -0.47459954023361206]}}}, {"t": 2.582, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [4.4541451416080236e-07, 1.650633454322815, 1.667542815208435, -1.4950461387634277, -1.43100651257555e-05, 2.9370607990131248e-06, 0.037500444799661636, -0.03749919682741165], "target": [-1.1737405491984987e-10, 1.6485432386398315, 1.670074462890625, -1.49447762966156, -2.1486738777110048e-10, -1.579512076688161e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.5195555686950684, 0.47964784502983093, 0.47964757680892944, -0.5195558071136475]}, "link_3": {"xyz": [0.0410546138882637, 2.502836287021637e-05, 0.37715908885002136], "quat_xyzw": [0.005978098604828119, 0.7070814967155457, -0.7070815563201904, 0.00597849627956748]}, "link_4": {"xyz": [0.2850050926208496, 2.5173649191856384e-05, 0.4412931203842163], "quat_xyzw": [-0.4763070344924927, 0.5226199626922607, -0.5226202607154846, -0.4763067662715912]}, "link_5": {"xyz": [0.33118265867233276, 1.993030309677124e-07, 0.37126538157463074], "quat_xyzw": [0.5226162075996399, 0.5226239562034607, -0.4763036370277405, -0.4763101637363434]}, "link_6": {"xyz": [0.2951183319091797, 6.862683221697807e-07, 0.33246201276779175], "quat_xyzw": [0.7063486576080322, 0.7063474655151367, 0.03275347128510475, 0.03274330496788025]}, "link_left_finger": {"xyz": [0.3397480249404907, 0.0005019232630729675, 0.2758485972881317], "quat_xyzw": [0.47630369663238525, 0.5226160883903503, 0.5226240754127502, -0.47631004452705383]}, "link_right_finger": {"xyz": [0.2616843581199646, -0.0004975609481334686, 0.2685944437980652], "quat_xyzw": [0.47630369663238525, 0.5226160883903503, 0.5226240754127502, -0.47631004452705383]}}}, {"t": 2.602, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.3287284989237378e-07, 1.6572777032852173, 1.6743955612182617, -1.5015664100646973, -1.35443760882481e-05, 2.5657559490355197e-06, 0.03750046715140343, -0.03749914839863777], "target": [-1.186690884447117e-10, 1.6551802158355713, 1.6769160032272339, -1.5010367631912231, -2.17238088628946e-10, -1.59693938628358e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5211462378501892, 0.4779191017150879, 0.4779190123081207, -0.521146297454834]}, "link_3": {"xyz": [0.042802609503269196, 2.5006011128425598e-05, 0.3770134150981903], "quat_xyzw": [0.006051947362720966, 0.7070809006690979, -0.7070809602737427, 0.0060521075502038]}, "link_4": {"xyz": [0.2867397367954254, 2.5076791644096375e-05, 0.44119831919670105], "quat_xyzw": [-0.47795385122299194, 0.5211142301559448, -0.5211144089698792, -0.4779537618160248]}, "link_5": {"xyz": [0.33247438073158264, 8.009374141693115e-08, 0.37088051438331604], "quat_xyzw": [0.5211107730865479, 0.5211179852485657, -0.47795066237449646, -0.47795698046684265]}, "link_6": {"xyz": [0.2961658537387848, 5.416222847998142e-07, 0.33230552077293396], "quat_xyzw": [0.706448495388031, 0.7064473032951355, 0.030523957684636116, 0.030514301732182503]}, "link_left_finger": {"xyz": [0.3404373526573181, 0.0005017444491386414, 0.27541154623031616], "quat_xyzw": [0.4779508113861084, 0.5211105346679688, 0.5211182236671448, -0.47795677185058594]}, "link_right_finger": {"xyz": [0.26232945919036865, -0.0004976987838745117, 0.26865026354789734], "quat_xyzw": [0.4779508113861084, 0.5211105346679688, 0.5211182236671448, -0.47795677185058594]}}}, {"t": 2.622, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [4.938085851335927e-08, 1.66367769241333, 1.6809959411621094, -1.5078469514846802, -1.3037320059083868e-05, 2.189949327657814e-06, 0.03750046342611313, -0.03749915957450867], "target": [-1.1991643789066586e-10, 1.6615729331970215, 1.683505654335022, -1.5073543787002563, -2.1952151207926818e-10, -1.613725125748644e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5226728916168213, 0.47624894976615906, 0.47624894976615906, -0.5226728916168213]}, "link_3": {"xyz": [0.04448539763689041, 2.5002285838127136e-05, 0.3768620789051056], "quat_xyzw": [0.0061228456906974316, 0.7070803046226501, -0.7070803046226501, 0.0061229318380355835]}, "link_4": {"xyz": [0.28840965032577515, 2.5035813450813293e-05, 0.44109588861465454], "quat_xyzw": [-0.47953587770462036, 0.5196589231491089, -0.5196589827537537, -0.4795358180999756]}, "link_5": {"xyz": [0.33371591567993164, 3.91155481338501e-08, 0.370501309633255], "quat_xyzw": [0.5196555256843567, 0.5196623802185059, -0.47953277826309204, -0.4795389473438263]}, "link_6": {"xyz": [0.29717350006103516, 4.776520654559135e-07, 0.3321477770805359], "quat_xyzw": [0.7065379619598389, 0.7065368890762329, 0.028375929221510887, 0.028366656973958015]}, "link_left_finger": {"xyz": [0.34109827876091003, 0.0005016699433326721, 0.274985671043396], "quat_xyzw": [0.47953295707702637, 0.5196552276611328, 0.5196625590324402, -0.4795387387275696]}, "link_right_finger": {"xyz": [0.26295071840286255, -0.0004978179931640625, 0.26869940757751465], "quat_xyzw": [0.47953295707702637, 0.5196552276611328, 0.5196625590324402, -0.4795387387275696]}}}, {"t": 2.642, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.847488975836313e-08, 1.6698248386383057, 1.687335729598999, -1.5138779878616333, -1.3019764992350247e-05, 2.1434038899315055e-06, 0.03750046342611313, -0.037499234080314636], "target": [-1.211145211899023e-10, 1.6677131652832031, 1.6898349523544312, -1.5134223699569702, -2.2171474378662737e-10, -1.6298477845122505e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5241342186927795, 0.4746401906013489, 0.4746401906013489, -0.5241342186927795]}, "link_3": {"xyz": [0.04610081762075424, 2.5002285838127136e-05, 0.3767065703868866], "quat_xyzw": [0.006190921179950237, 0.7070797085762024, -0.7070796489715576, 0.006190996151417494]}, "link_4": {"xyz": [0.2900126576423645, 2.5024637579917908e-05, 0.44098731875419617], "quat_xyzw": [-0.48105084896087646, 0.5182568430900574, -0.5182568430900574, -0.4810507595539093]}, "link_5": {"xyz": [0.3349059820175171, 4.284083843231201e-08, 0.37012943625450134], "quat_xyzw": [0.5182534456253052, 0.5182603001594543, -0.48104768991470337, -0.4810539484024048]}, "link_6": {"xyz": [0.2981402575969696, 4.867324605584145e-07, 0.33198991417884827], "quat_xyzw": [0.7066177725791931, 0.7066166400909424, 0.026313314214348793, 0.026303991675376892]}, "link_left_finger": {"xyz": [0.3417305648326874, 0.000501677393913269, 0.27457237243652344], "quat_xyzw": [0.4810478687286377, 0.5182531476020813, 0.5182605385780334, -0.4810536503791809]}, "link_right_finger": {"xyz": [0.2635476291179657, -0.0004978775978088379, 0.26874247193336487], "quat_xyzw": [0.4810478687286377, 0.5182531476020813, 0.5182605385780334, -0.4810536503791809]}}}, {"t": 2.662, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.0158033464667824e-07, 1.6757107973098755, 1.6934069395065308, -1.5196537971496582, -1.327465088252211e-05, 2.0074835447303485e-06, 0.03750046342611313, -0.03749934211373329], "target": [-1.2226174239682308e-10, 1.6735926866531372, 1.6958955526351929, -1.5192328691482544, -2.2381486941558393e-10, -1.6452861295590537e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5255287885665894, 0.47309568524360657, 0.4730955958366394, -0.5255288481712341]}, "link_3": {"xyz": [0.04764663428068161, 2.5020912289619446e-05, 0.3765483796596527], "quat_xyzw": [0.00625638198107481, 0.7070791125297546, -0.7070791125297546, 0.006256562657654285]}, "link_4": {"xyz": [0.2915465831756592, 2.508796751499176e-05, 0.4408743381500244], "quat_xyzw": [-0.4824976623058319, 0.5169100761413574, -0.516910195350647, -0.48249751329421997]}, "link_5": {"xyz": [0.3360430598258972, 1.0617077350616455e-07, 0.36976659297943115], "quat_xyzw": [0.5169066190719604, 0.516913652420044, -0.48249444365501404, -0.48250076174736023]}, "link_6": {"xyz": [0.2990646958351135, 5.658366717398167e-07, 0.3318331837654114], "quat_xyzw": [0.7066884636878967, 0.7066875696182251, 0.024338074028491974, 0.02432859130203724]}, "link_left_finger": {"xyz": [0.3423333168029785, 0.0005017928779125214, 0.274172842502594], "quat_xyzw": [0.4824945628643036, 0.5169064402580261, 0.5169137716293335, -0.4825006425380707]}, "link_right_finger": {"xyz": [0.2641189992427826, -0.0004979148507118225, 0.2687801122665405], "quat_xyzw": [0.4824945628643036, 0.5169064402580261, 0.5169137716293335, -0.4825006425380707]}}}, {"t": 2.682, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [3.6391969615579e-07, 1.6813286542892456, 1.6991994380950928, -1.5251649618148804, -1.3853649761585984e-05, 1.7776646927814e-06, 0.03750050067901611, -0.03749941661953926], "target": [-1.2335651944361814e-10, 1.6792033910751343, 1.7016791105270386, -1.5247776508331299, -2.2581898850848603e-10, -1.6600185115400734e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5268555283546448, 0.4716176986694336, 0.4716174900531769, -0.5268557071685791]}, "link_3": {"xyz": [0.04912114888429642, 2.500973641872406e-05, 0.37638893723487854], "quat_xyzw": [0.006318032741546631, 0.7070785760879517, -0.7070785760879517, 0.006318353116512299]}, "link_4": {"xyz": [0.29300984740257263, 2.5121495127677917e-05, 0.4407574534416199], "quat_xyzw": [-0.48387524485588074, 0.515620768070221, -0.5156210064888, -0.48387500643730164]}, "link_5": {"xyz": [0.3371262550354004, 1.3969838619232178e-07, 0.36941325664520264], "quat_xyzw": [0.5156171917915344, 0.5156245827674866, -0.4838718771934509, -0.48387834429740906]}, "link_6": {"xyz": [0.29994598031044006, 6.075133569538593e-07, 0.33167773485183716], "quat_xyzw": [0.706750750541687, 0.7067501544952393, 0.02245258167386055, 0.022442739456892014]}, "link_left_finger": {"xyz": [0.34290626645088196, 0.0005019083619117737, 0.273787260055542], "quat_xyzw": [0.48387184739112854, 0.5156171917915344, 0.5156245827674866, -0.48387837409973145]}, "link_right_finger": {"xyz": [0.26466429233551025, -0.0004979223012924194, 0.26881203055381775], "quat_xyzw": [0.48387184739112854, 0.5156171917915344, 0.5156245827674866, -0.48387837409973145]}}}, {"t": 2.702, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-5.97044618189102e-08, 1.686668872833252, 1.7047067880630493, -1.5304033756256104, -1.2616706953849643e-05, 1.7244728951482102e-06, 0.037500519305467606, -0.03749950975179672], "target": [-1.2439725638468957e-10, 1.6845371723175049, 1.7071772813796997, -1.5300488471984863, -2.2772418672989403e-10, -1.6740238362178417e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5281130075454712, 0.47020915150642395, 0.47020912170410156, -0.5281130075454712]}, "link_3": {"xyz": [0.05052194744348526, 2.5002285838127136e-05, 0.3762296736240387], "quat_xyzw": [0.0063772364519536495, 0.7070780396461487, -0.7070780992507935, 0.00637730723246932]}, "link_4": {"xyz": [0.2943999469280243, 2.5039538741111755e-05, 0.4406389594078064], "quat_xyzw": [-0.4851810336112976, 0.5143922567367554, -0.5143923163414001, -0.4851810336112976]}, "link_5": {"xyz": [0.3381539583206177, 4.284083843231201e-08, 0.36907196044921875], "quat_xyzw": [0.5143890380859375, 0.514395534992218, -0.48517799377441406, -0.48518407344818115]}, "link_6": {"xyz": [0.30078279972076416, 4.787580110132694e-07, 0.3315254747867584], "quat_xyzw": [0.7068055272102356, 0.706804633140564, 0.020659925416111946, 0.020650995895266533]}, "link_left_finger": {"xyz": [0.3434489667415619, 0.0005017109215259552, 0.2734178900718689], "quat_xyzw": [0.4851781725883484, 0.5143887996673584, 0.5143957138061523, -0.48518386483192444]}, "link_right_finger": {"xyz": [0.265182763338089, -0.0004982203245162964, 0.2688395082950592], "quat_xyzw": [0.4851781725883484, 0.5143887996673584, 0.5143957138061523, -0.48518386483192444]}}}, {"t": 2.722, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.771545043993683e-07, 1.6917238235473633, 1.709919810295105, -1.5353612899780273, -1.2139999853388872e-05, 1.5839948446227936e-06, 0.037500496953725815, -0.03749965503811836], "target": [-1.2538237115222728e-10, 1.6895859241485596, 1.7123814821243286, -1.5350382328033447, -2.295275636221561e-10, -1.6872805930212564e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5292998552322388, 0.4688728153705597, 0.46887293457984924, -0.5292997360229492]}, "link_3": {"xyz": [0.05184709280729294, 2.5000423192977905e-05, 0.37607207894325256], "quat_xyzw": [0.006433221511542797, 0.7070775628089905, -0.7070775628089905, 0.0064331176690757275]}, "link_4": {"xyz": [0.2957148849964142, 2.4974346160888672e-05, 0.44051992893218994], "quat_xyzw": [-0.4864140450954437, 0.5132264494895935, -0.5132263898849487, -0.4864141345024109]}, "link_5": {"xyz": [0.3391248881816864, -2.9802322387695312e-08, 0.3687437176704407], "quat_xyzw": [0.5132232904434204, 0.513229489326477, -0.48641109466552734, -0.48641708493232727]}, "link_6": {"xyz": [0.3015739619731903, 4.0140002965927124e-07, 0.3313770592212677], "quat_xyzw": [0.7068530321121216, 0.7068520784378052, 0.018963484093546867, 0.018954820930957794]}, "link_left_finger": {"xyz": [0.3439607322216034, 0.000501580536365509, 0.27306538820266724], "quat_xyzw": [0.4864113926887512, 0.5132229924201965, 0.5132297873497009, -0.48641684651374817]}, "link_right_finger": {"xyz": [0.26567342877388, -0.000498451292514801, 0.2688627243041992], "quat_xyzw": [0.4864113926887512, 0.5132229924201965, 0.5132297873497009, -0.48641684651374817]}}}, {"t": 2.742, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.510003357907408e-07, 1.696485161781311, 1.714830756187439, -1.5400307178497314, -1.2187637366878334e-05, 1.3386875252763275e-06, 0.037500426173210144, -0.03749982267618179], "target": [-1.2631026780063337e-10, 1.6943414211273193, 1.7172834873199463, -1.5397379398345947, -2.3122619097204478e-10, -1.6997674101570937e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5304145812988281, 0.4676114022731781, 0.46761149168014526, -0.5304144620895386]}, "link_3": {"xyz": [0.05309455841779709, 2.5015324354171753e-05, 0.3759174644947052], "quat_xyzw": [0.006486081052571535, 0.7070770263671875, -0.7070770859718323, 0.0064860014244914055]}, "link_4": {"xyz": [0.2969527244567871, 2.4996697902679443e-05, 0.4404017925262451], "quat_xyzw": [-0.48757266998291016, 0.5121258497238159, -0.5121258497238159, -0.4875727593898773]}, "link_5": {"xyz": [0.34003788232803345, -7.450580596923828e-09, 0.36843013763427734], "quat_xyzw": [0.5121227502822876, 0.5121288895606995, -0.48756974935531616, -0.4875756800174713]}, "link_6": {"xyz": [0.3023184537887573, 4.203757271170616e-07, 0.33123359084129333], "quat_xyzw": [0.706894040107727, 0.7068932056427002, 0.01736593246459961, 0.01735738478600979]}, "link_left_finger": {"xyz": [0.3444412052631378, 0.0005015358328819275, 0.27273091673851013], "quat_xyzw": [0.48756998777389526, 0.5121224522590637, 0.5121291279792786, -0.4875754415988922]}, "link_right_finger": {"xyz": [0.2661357522010803, -0.0004986301064491272, 0.2688821256160736], "quat_xyzw": [0.48756998777389526, 0.5121224522590637, 0.5121291279792786, -0.4875754415988922]}}}, {"t": 2.762, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.3520266267951229e-07, 1.7009446620941162, 1.7194305658340454, -1.5444048643112183, -1.1948726751143113e-05, 1.374205112369964e-06, 0.03750031068921089, -0.03749997168779373], "target": [-1.2717936426209775e-10, 1.6987954378128052, 1.7218748331069946, -1.5441396236419678, -2.3281716832190824e-10, -1.7114627770542512e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5314558744430542, 0.4664275348186493, 0.46642762422561646, -0.5314558148384094]}, "link_3": {"xyz": [0.05426225811243057, 2.4985522031784058e-05, 0.3757672607898712], "quat_xyzw": [0.006535653490573168, 0.7070766091346741, -0.7070766091346741, 0.006535619031637907]}, "link_4": {"xyz": [0.2981113791465759, 2.4981796741485596e-05, 0.4402858018875122], "quat_xyzw": [-0.4886557459831238, 0.5110925436019897, -0.5110925436019897, -0.48865577578544617]}, "link_5": {"xyz": [0.34089142084121704, -2.2351741790771484e-08, 0.3681323528289795], "quat_xyzw": [0.5110895037651062, 0.5110955834388733, -0.4886528551578522, -0.4886586666107178]}, "link_6": {"xyz": [0.3030148148536682, 3.952300176024437e-07, 0.331095814704895], "quat_xyzw": [0.7069291472434998, 0.7069284319877625, 0.015869420021772385, 0.01586099900305271]}, "link_left_finger": {"xyz": [0.3448895215988159, 0.0005013905465602875, 0.2724153399467468], "quat_xyzw": [0.4886530041694641, 0.5110892653465271, 0.5110957622528076, -0.48865842819213867]}, "link_right_finger": {"xyz": [0.26656848192214966, -0.0004988126456737518, 0.268898069858551], "quat_xyzw": [0.4886530041694641, 0.5110892653465271, 0.5110957622528076, -0.48865842819213867]}}}, {"t": 2.782, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [3.343859944493488e-08, 1.7050944566726685, 1.7237104177474976, -1.548474907875061, -1.2804116522602271e-05, 1.1427363233451615e-06, 0.03750017285346985, -0.03750007227063179], "target": [-1.2798806459102252e-10, 1.7029401063919067, 1.7261470556259155, -1.548235535621643, -2.3429758133630685e-10, -1.7223454606973831e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5324224829673767, 0.46532386541366577, 0.46532386541366577, -0.5324224829673767]}, "link_3": {"xyz": [0.0553482249379158, 2.5002285838127136e-05, 0.37562280893325806], "quat_xyzw": [0.006581619381904602, 0.7070761322975159, -0.7070761322975159, 0.006581704132258892]}, "link_4": {"xyz": [0.29918888211250305, 2.503208816051483e-05, 0.44017308950424194], "quat_xyzw": [-0.48966166377067566, 0.510128915309906, -0.5101289749145508, -0.4896615743637085]}, "link_5": {"xyz": [0.34168434143066406, 4.284083843231201e-08, 0.3678516745567322], "quat_xyzw": [0.5101256370544434, 0.5101323127746582, -0.48965853452682495, -0.4896647334098816]}, "link_6": {"xyz": [0.30366212129592896, 4.779139999300241e-07, 0.3309646546840668], "quat_xyzw": [0.7069589495658875, 0.706958532333374, 0.014477158896625042, 0.014468031004071236]}, "link_left_finger": {"xyz": [0.34530529379844666, 0.0005014166235923767, 0.2721196413040161], "quat_xyzw": [0.48965853452682495, 0.5101255774497986, 0.5101323127746582, -0.4896647036075592]}, "link_right_finger": {"xyz": [0.26697099208831787, -0.0004987940192222595, 0.2689109742641449], "quat_xyzw": [0.48965853452682495, 0.5101255774497986, 0.5101323127746582, -0.4896647036075592]}}}, {"t": 2.802, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.534730185743683e-07, 1.7089262008666992, 1.7276619672775269, -1.552233338356018, -1.1845495464513078e-05, 8.452360589217278e-07, 0.03750004991889, -0.03750017285346985], "target": [-1.2873477284180979e-10, 1.706766963005066, 1.73009192943573, -1.5520175695419312, -2.3566454343537657e-10, -1.7323940892932654e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5333130955696106, 0.4643028676509857, 0.46430304646492004, -0.5333129167556763]}, "link_3": {"xyz": [0.056350432336330414, 2.4996697902679443e-05, 0.37548545002937317], "quat_xyzw": [0.006624097004532814, 0.7070757746696472, -0.7070757746696472, 0.006623886525630951]}, "link_4": {"xyz": [0.30018338561058044, 2.4925917387008667e-05, 0.4400649070739746], "quat_xyzw": [-0.49058884382247925, 0.5092372894287109, -0.5092371702194214, -0.4905889928340912]}, "link_5": {"xyz": [0.34241539239883423, -8.568167686462402e-08, 0.3675893247127533], "quat_xyzw": [0.5092342495918274, 0.5092401504516602, -0.49058589339256287, -0.4905918538570404]}, "link_6": {"xyz": [0.3042592406272888, 3.471941454336047e-07, 0.33084091544151306], "quat_xyzw": [0.7069841623306274, 0.7069835066795349, 0.013190572150051594, 0.01318216510117054]}, "link_left_finger": {"xyz": [0.34568801522254944, 0.0005010850727558136, 0.2718447744846344], "quat_xyzw": [0.49058613181114197, 0.5092340111732483, 0.5092403888702393, -0.4905916154384613]}, "link_right_finger": {"xyz": [0.26734253764152527, -0.0004990734159946442, 0.2689211964607239], "quat_xyzw": [0.49058613181114197, 0.5092340111732483, 0.5092403888702393, -0.4905916154384613]}}}, {"t": 2.8219999999999996, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [3.573582318949775e-09, 1.7124322652816772, 1.7312778234481812, -1.5556704998016357, -1.2556646652228665e-05, 9.541964800519054e-07, 0.037499938160181046, -0.0375002920627594], "target": [-1.2941792082443726e-10, 1.7102681398391724, 1.7337008714675903, -1.555477499961853, -2.3691509865031435e-10, -1.741587152270796e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5341261029243469, 0.4633673429489136, 0.4633673429489136, -0.5341261029243469]}, "link_3": {"xyz": [0.05726698786020279, 2.5002285838127136e-05, 0.37535637617111206], "quat_xyzw": [0.006662803702056408, 0.7070754170417786, -0.7070753574371338, 0.00666287075728178]}, "link_4": {"xyz": [0.30109283328056335, 2.5024637579917908e-05, 0.43996262550354004], "quat_xyzw": [-0.4914354681968689, 0.5084203481674194, -0.5084203481674194, -0.49143537878990173]}, "link_5": {"xyz": [0.3430834412574768, 3.5390257835388184e-08, 0.36734694242477417], "quat_xyzw": [0.5084170699119568, 0.5084236264228821, -0.4914323389530182, -0.49143853783607483]}, "link_6": {"xyz": [0.304805189371109, 4.7369394451379776e-07, 0.33072569966316223], "quat_xyzw": [0.7070050239562988, 0.7070045471191406, 0.012014670297503471, 0.012005630880594254]}, "link_left_finger": {"xyz": [0.34603744745254517, 0.0005011633038520813, 0.27159202098846436], "quat_xyzw": [0.4914323687553406, 0.5084169507026672, 0.5084236860275269, -0.4914384186267853]}, "link_right_finger": {"xyz": [0.26768267154693604, -0.0004990249872207642, 0.268929123878479], "quat_xyzw": [0.4914323687553406, 0.5084169507026672, 0.5084236860275269, -0.4914384186267853]}}}, {"t": 2.8419999999999996, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [3.9746490188008465e-07, 1.7156037092208862, 1.7345495223999023, -1.5587782859802246, -1.3879839571018238e-05, 6.641194545409235e-07, 0.037499938160181046, -0.0375002846121788], "target": [-1.3003589871551924e-10, 1.7134352922439575, 1.736965537071228, -1.5586074590682983, -2.3804638815683177e-10, -1.7499034166146288e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5348601937294006, 0.4625198543071747, 0.46251967549324036, -0.5348603129386902]}, "link_3": {"xyz": [0.05809568613767624, 2.5024637579917908e-05, 0.3752368986606598], "quat_xyzw": [0.006698067765682936, 0.7070750594139099, -0.7070750594139099, 0.00669832993298769]}, "link_4": {"xyz": [0.3019150495529175, 2.5117769837379456e-05, 0.4398675560951233], "quat_xyzw": [-0.492199569940567, 0.5076805949211121, -0.5076807737350464, -0.4921993911266327]}, "link_5": {"xyz": [0.3436870574951172, 1.3597309589385986e-07, 0.36712589859962463], "quat_xyzw": [0.5076771378517151, 0.5076843500137329, -0.4921961724758148, -0.4922028183937073]}, "link_6": {"xyz": [0.3052988350391388, 5.967449396848679e-07, 0.3306199312210083], "quat_xyzw": [0.7070221304893494, 0.7070220708847046, 0.010951793752610683, 0.010941985063254833]}, "link_left_finger": {"xyz": [0.34635305404663086, 0.0005013681948184967, 0.2713625133037567], "quat_xyzw": [0.4921960234642029, 0.5076771974563599, 0.5076842308044434, -0.49220290780067444]}, "link_right_finger": {"xyz": [0.2679906487464905, -0.0004988387227058411, 0.26893532276153564], "quat_xyzw": [0.4921960234642029, 0.5076771974563599, 0.5076842308044434, -0.49220290780067444]}}}, {"t": 2.8619999999999997, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.2469759269606584e-07, 1.7184333801269531, 1.7374672889709473, -1.5615507364273071, -1.3095754184178077e-05, 4.538667326414725e-07, 0.03749997541308403, -0.03750027343630791], "target": [-1.3058712444724563e-10, 1.716260313987732, 1.739877700805664, -1.5613993406295776, -2.390554976194892e-10, -1.7573213717536618e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5355140566825867, 0.4617626368999481, 0.46176254749298096, -0.5355141162872314]}, "link_3": {"xyz": [0.05883472412824631, 2.5006011128425598e-05, 0.3751280605792999], "quat_xyzw": [0.006729333661496639, 0.707074761390686, -0.707074761390686, 0.006729486398398876]}, "link_4": {"xyz": [0.3026483952999115, 2.5061890482902527e-05, 0.43978023529052734], "quat_xyzw": [-0.4928804337978363, 0.5070196390151978, -0.5070196986198425, -0.49288031458854675]}, "link_5": {"xyz": [0.3442250192165375, 7.264316082000732e-08, 0.36692672967910767], "quat_xyzw": [0.5070163011550903, 0.50702303647995, -0.49287715554237366, -0.492883563041687]}, "link_6": {"xyz": [0.3057389557361603, 5.310575943440199e-07, 0.3305239677429199], "quat_xyzw": [0.7070361375808716, 0.7070360779762268, 0.010002650320529938, 0.009993365965783596]}, "link_left_finger": {"xyz": [0.3466339707374573, 0.0005013085901737213, 0.27115654945373535], "quat_xyzw": [0.4928770661354065, 0.5070163607597351, 0.5070229768753052, -0.4928835928440094]}, "link_right_finger": {"xyz": [0.2682653069496155, -0.0004989504814147949, 0.26893970370292664], "quat_xyzw": [0.4928770661354065, 0.5070163607597351, 0.5070229768753052, -0.4928835928440094]}}}, {"t": 2.8819999999999997, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.2921112474705296e-07, 1.7209116220474243, 1.7400239706039429, -1.563979983329773, -1.3395847417996265e-05, 3.7973543953739863e-07, 0.03750002011656761, -0.03750025853514671], "target": [-1.3107001595180634e-10, 1.7187350988388062, 1.7424286603927612, -1.5638450384140015, -2.3993945719169574e-10, -1.763819645894671e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.536085844039917, 0.46109873056411743, 0.46109864115715027, -0.5360859036445618]}, "link_3": {"xyz": [0.05948173254728317, 2.5020912289619446e-05, 0.3750310242176056], "quat_xyzw": [0.00675703352317214, 0.7070745229721069, -0.7070745229721069, 0.0067572081461548805]}, "link_4": {"xyz": [0.30329036712646484, 2.508796751499176e-05, 0.4397023022174835], "quat_xyzw": [-0.4934760630130768, 0.5064399242401123, -0.5064400434494019, -0.49347594380378723]}, "link_5": {"xyz": [0.3446955978870392, 9.872019290924072e-08, 0.3667512536048889], "quat_xyzw": [0.5064365267753601, 0.506443440914154, -0.49347278475761414, -0.49347925186157227]}, "link_6": {"xyz": [0.3061240315437317, 5.578622221946716e-07, 0.330439031124115], "quat_xyzw": [0.7070473432540894, 0.7070474028587341, 0.009171634912490845, 0.009162177331745625]}, "link_left_finger": {"xyz": [0.34687936305999756, 0.0005013793706893921, 0.2709757089614868], "quat_xyzw": [0.4934726655483246, 0.5064367055892944, 0.5064433217048645, -0.4934794008731842]}, "link_right_finger": {"xyz": [0.26850569248199463, -0.0004988797008991241, 0.26894307136535645], "quat_xyzw": [0.4934726655483246, 0.5064367055892944, 0.5064433217048645, -0.4934794008731842]}}}, {"t": 2.9019999999999997, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.6325119861780877e-08, 1.7230321168899536, 1.742210030555725, -1.566056251525879, -1.2710686860373244e-05, 4.7627520416426705e-07, 0.037500087171792984, -0.03750023990869522], "target": [-1.3148296340581567e-10, 1.7208515405654907, 1.74461030960083, -1.5659366846084595, -2.406954358047386e-10, -1.769376867244432e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5365744233131409, 0.46053001284599304, 0.46053001284599304, -0.5365744233131409]}, "link_3": {"xyz": [0.06003519147634506, 2.5002285838127136e-05, 0.3749467134475708], "quat_xyzw": [0.006780268158763647, 0.7070742845535278, -0.7070742845535278, 0.006780324038118124]}, "link_4": {"xyz": [0.3038395345211029, 2.5020912289619446e-05, 0.43963396549224854], "quat_xyzw": [-0.4939849376678467, 0.5059435963630676, -0.5059436559677124, -0.4939849078655243]}, "link_5": {"xyz": [0.34509801864624023, 3.166496753692627e-08, 0.36659979820251465], "quat_xyzw": [0.5059403777122498, 0.5059468746185303, -0.49398180842399597, -0.4939880073070526]}, "link_6": {"xyz": [0.30645355582237244, 4.648463800549507e-07, 0.33036521077156067], "quat_xyzw": [0.7070562839508057, 0.7070561647415161, 0.008460573852062225, 0.008451603353023529]}, "link_left_finger": {"xyz": [0.3470892608165741, 0.0005013197660446167, 0.2708199918270111], "quat_xyzw": [0.4939817488193512, 0.5059403777122498, 0.5059468150138855, -0.4939880073070526]}, "link_right_finger": {"xyz": [0.268711656332016, -0.0004990100860595703, 0.26894500851631165], "quat_xyzw": [0.4939817488193512, 0.5059403777122498, 0.5059468150138855, -0.4939880073070526]}}}, {"t": 2.9219999999999997, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.7694458165351534e-07, 1.7247852087020874, 1.7440177202224731, -1.5677707195281982, -1.2164486179244705e-05, 3.053861519219936e-07, 0.03750012442469597, -0.03750024363398552], "target": [-1.3182441249703913e-10, 1.7226014137268066, 1.746414065361023, -1.567665934562683, -2.413204913676026e-10, -1.7739715252318433e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5369779467582703, 0.4600594639778137, 0.4600595533847809, -0.5369778871536255]}, "link_3": {"xyz": [0.060492582619190216, 2.4985522031784058e-05, 0.37487611174583435], "quat_xyzw": [0.006799622904509306, 0.7070741653442383, -0.7070741057395935, 0.006799571216106415]}, "link_4": {"xyz": [0.3042934536933899, 2.4966895580291748e-05, 0.4395766854286194], "quat_xyzw": [-0.494404673576355, 0.5055335164070129, -0.5055333971977234, -0.494404673576355]}, "link_5": {"xyz": [0.3454306423664093, -2.9802322387695312e-08, 0.36647412180900574], "quat_xyzw": [0.5055304169654846, 0.5055365562438965, -0.49440160393714905, -0.4944077432155609]}, "link_6": {"xyz": [0.3067260682582855, 3.919412847608328e-07, 0.33030372858047485], "quat_xyzw": [0.7070631384849548, 0.7070629000663757, 0.007873603142797947, 0.007864915765821934]}, "link_left_finger": {"xyz": [0.3472628593444824, 0.0005012564361095428, 0.2706911265850067], "quat_xyzw": [0.49440163373947144, 0.5055302977561951, 0.5055366158485413, -0.49440762400627136]}, "link_right_finger": {"xyz": [0.26888227462768555, -0.0004990994930267334, 0.26894623041152954], "quat_xyzw": [0.49440163373947144, 0.5055302977561951, 0.5055366158485413, -0.49440762400627136]}}}, {"t": 2.9419999999999997, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.0346034429176143e-07, 1.7261627912521362, 1.7454394102096558, -1.5691187381744385, -1.2379212421365082e-05, 2.8444489430512476e-07, 0.03750016540288925, -0.037500280886888504], "target": [-1.3209273952430323e-10, 1.7239766120910645, 1.7478317022323608, -1.5690250396728516, -2.4181168178927237e-10, -1.7775825256194366e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5372946858406067, 0.4596894681453705, 0.45968955755233765, -0.5372946262359619]}, "link_3": {"xyz": [0.060851939022541046, 2.5000423192977905e-05, 0.3748200833797455], "quat_xyzw": [0.006815195083618164, 0.707073986530304, -0.707073986530304, 0.0068151680752635]}, "link_4": {"xyz": [0.3046499788761139, 2.4996697902679443e-05, 0.4395313858985901], "quat_xyzw": [-0.49473413825035095, 0.5052110552787781, -0.5052109956741333, -0.49473416805267334]}, "link_5": {"xyz": [0.3456918001174927, 7.450580596923828e-09, 0.36637523770332336], "quat_xyzw": [0.505207896232605, 0.5052140951156616, -0.49473100900650024, -0.4947371780872345]}, "link_6": {"xyz": [0.30694010853767395, 4.500470822677016e-07, 0.330255389213562], "quat_xyzw": [0.7070680856704712, 0.7070679068565369, 0.0074126506224274635, 0.007403925061225891]}, "link_left_finger": {"xyz": [0.34739911556243896, 0.0005013644695281982, 0.27059000730514526], "quat_xyzw": [0.494731068611145, 0.5052078366279602, 0.5052141547203064, -0.4947371184825897]}, "link_right_finger": {"xyz": [0.2690163552761078, -0.0004990771412849426, 0.2689472734928131], "quat_xyzw": [0.494731068611145, 0.5052078366279602, 0.5052141547203064, -0.4947371184825897]}}}, {"t": 2.9619999999999997, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.6303821343276468e-08, 1.7271578311920166, 1.7464659214019775, -1.5700907707214355, -1.2508399777289014e-05, 3.392328835616354e-07, 0.037500202655792236, -0.03750034049153328], "target": [-1.3228636241979785e-10, 1.7249689102172852, 1.748854637145996, -1.5700057744979858, -2.4216614824545957e-10, -1.780188219058232e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5375233292579651, 0.45942217111587524, 0.45942217111587524, -0.5375233292579651]}, "link_3": {"xyz": [0.06111142784357071, 2.5002285838127136e-05, 0.3747793436050415], "quat_xyzw": [0.0068262722343206406, 0.7070738673210144, -0.7070738673210144, 0.006826343946158886]}, "link_4": {"xyz": [0.3049074113368988, 2.5035813450813293e-05, 0.43949833512306213], "quat_xyzw": [-0.49497169256210327, 0.5049782395362854, -0.504978358745575, -0.4949716329574585]}, "link_5": {"xyz": [0.3458804190158844, 3.91155481338501e-08, 0.36630362272262573], "quat_xyzw": [0.5049750804901123, 0.5049814581871033, -0.4949686527252197, -0.49497467279434204]}, "link_6": {"xyz": [0.3070947527885437, 4.649336915463209e-07, 0.33022019267082214], "quat_xyzw": [0.7070714235305786, 0.7070714235305786, 0.007080135866999626, 0.007071363274008036]}, "link_left_finger": {"xyz": [0.3474976420402527, 0.0005014203488826752, 0.2705168128013611], "quat_xyzw": [0.49496856331825256, 0.5049751996994019, 0.5049813985824585, -0.4949747622013092]}, "link_right_finger": {"xyz": [0.26911336183547974, -0.0004991292953491211, 0.2689477801322937], "quat_xyzw": [0.49496856331825256, 0.5049751996994019, 0.5049813985824585, -0.4949747622013092]}}}, {"t": 2.9819999999999998, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-5.0826727715502784e-08, 1.7277616262435913, 1.7470883131027222, -1.570677399635315, -1.2450786925910506e-05, 1.7821454889599408e-07, 0.037500232458114624, -0.03750041499733925], "target": [-1.3240371299350073e-10, 1.7255703210830688, 1.7494745254516602, -1.5706000328063965, -2.4238097640072453e-10, -1.781767372532883e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5376619696617126, 0.45925983786582947, 0.45925983786582947, -0.5376619696617126]}, "link_3": {"xyz": [0.06126890331506729, 2.5002285838127136e-05, 0.3747544288635254], "quat_xyzw": [0.006832833401858807, 0.7070737481117249, -0.7070737481117249, 0.006832906976342201]}, "link_4": {"xyz": [0.3050636053085327, 2.5024637579917908e-05, 0.43947792053222656], "quat_xyzw": [-0.49511510133743286, 0.5048376321792603, -0.504837691783905, -0.4951150417327881]}, "link_5": {"xyz": [0.3459950089454651, 2.7939677238464355e-08, 0.36625996232032776], "quat_xyzw": [0.5048345327377319, 0.5048408508300781, -0.49511203169822693, -0.495118111371994]}, "link_6": {"xyz": [0.30718886852264404, 4.6048080548644066e-07, 0.33019858598709106], "quat_xyzw": [0.7070733904838562, 0.7070733904838562, 0.006879325024783611, 0.006870534271001816]}, "link_left_finger": {"xyz": [0.34755784273147583, 0.0005014538764953613, 0.2704722285270691], "quat_xyzw": [0.49511194229125977, 0.5048345923423767, 0.5048407912254333, -0.4951181709766388]}, "link_right_finger": {"xyz": [0.26917266845703125, -0.0004992038011550903, 0.2689477801322937], "quat_xyzw": [0.49511194229125977, 0.5048345923423767, 0.5048407912254333, -0.4951181709766388]}}}, {"t": 3.002, "phase": "approach", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [4.014885313097238e-09, 1.7279659509658813, 1.7472985982894897, -1.5708634853363037, -1.2521322787506506e-05, 6.304055233385952e-08, 0.03750019893050194, -0.03750044107437134], "target": [-1.3244318142202616e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -2.42453224164052e-10, -1.7822984754722881e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377088785171509, 0.45920494198799133, 0.45920491218566895, -0.5377088785171509]}, "link_3": {"xyz": [0.0613221600651741, 2.5002285838127136e-05, 0.3747459948062897], "quat_xyzw": [0.0068350001238286495, 0.7070737481117249, -0.7070737481117249, 0.006835063453763723]}, "link_4": {"xyz": [0.3051165044307709, 2.502836287021637e-05, 0.4394710063934326], "quat_xyzw": [-0.4951605200767517, 0.504793107509613, -0.5047931671142578, -0.4951604902744293]}, "link_5": {"xyz": [0.3460347652435303, 3.166496753692627e-08, 0.36624568700790405], "quat_xyzw": [0.5047898888587952, 0.5047963261604309, -0.495157390832901, -0.49516353011131287]}, "link_6": {"xyz": [0.3072221279144287, 4.7541107051074505e-07, 0.3301912844181061], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.006815753411501646, 0.006806869059801102]}, "link_left_finger": {"xyz": [0.34758034348487854, 0.0005014389753341675, 0.2704576849937439], "quat_xyzw": [0.49515730142593384, 0.5047901272773743, 0.5047962069511414, -0.4951637387275696]}, "link_right_finger": {"xyz": [0.26919490098953247, -0.0004992112517356873, 0.2689473330974579], "quat_xyzw": [0.49515730142593384, 0.5047901272773743, 0.5047962069511414, -0.4951637387275696]}}}, {"t": 3.022, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.8868543349981337e-07, 1.7279348373413086, 1.7471413612365723, -1.5707106590270996, -1.204455202241661e-05, -2.0423286173354427e-08, 0.03750012442469597, -0.03750045225024223], "target": [-1.3240371299350073e-10, 1.7257888317108154, 1.7495101690292358, -1.5706180334091187, -2.4238097640072453e-10, -1.781767372532883e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377017855644226, 0.4592132568359375, 0.45921334624290466, -0.5377017259597778]}, "link_3": {"xyz": [0.061314038932323456, 2.5000423192977905e-05, 0.37474730610847473], "quat_xyzw": [0.006790477316826582, 0.7070742249488831, -0.7070741653442383, 0.006790406536310911]}, "link_4": {"xyz": [0.30511656403541565, 2.4974346160888672e-05, 0.4394415616989136], "quat_xyzw": [-0.4951537549495697, 0.5047997832298279, -0.5047996640205383, -0.4951537847518921]}, "link_5": {"xyz": [0.34603676199913025, -2.9802322387695312e-08, 0.36621731519699097], "quat_xyzw": [0.5047967433929443, 0.5048027634620667, -0.49515071511268616, -0.495156854391098]}, "link_6": {"xyz": [0.3072250783443451, 3.9506994653493166e-07, 0.3301618695259094], "quat_xyzw": [0.707073986530304, 0.7070738673210144, 0.006825027987360954, 0.006816423963755369]}, "link_left_finger": {"xyz": [0.34758487343788147, 0.0005012527108192444, 0.2704293131828308], "quat_xyzw": [0.49515077471733093, 0.5047966241836548, 0.5048028230667114, -0.49515676498413086]}, "link_right_finger": {"xyz": [0.2691994905471802, -0.0004993192851543427, 0.26891690492630005], "quat_xyzw": [0.49515077471733093, 0.5047966241836548, 0.5048028230667114, -0.49515676498413086]}}}, {"t": 3.042, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-3.0316493848658865e-07, 1.7279433012008667, 1.7466415166854858, -1.5702106952667236, -1.1666034879453946e-05, 4.359717422630638e-07, 0.03749999403953552, -0.03750048950314522], "target": [-1.3228636241979785e-10, 1.7258368730545044, 1.748996376991272, -1.5700774192810059, -2.4216614824545957e-10, -1.780188219058232e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5377037525177002, 0.45921093225479126, 0.4592111110687256, -0.5377035737037659]}, "link_3": {"xyz": [0.06131625920534134, 2.4981796741485596e-05, 0.3747469484806061], "quat_xyzw": [0.006610804703086615, 0.7070758938789368, -0.7070758938789368, 0.006610614713281393]}, "link_4": {"xyz": [0.3051516115665436, 2.4918466806411743e-05, 0.4393172562122345], "quat_xyzw": [-0.49515581130981445, 0.5047976970672607, -0.5047975778579712, -0.4951559603214264]}, "link_5": {"xyz": [0.34607118368148804, -9.313225746154785e-08, 0.3660926818847656], "quat_xyzw": [0.5047947764396667, 0.5048004984855652, -0.49515292048454285, -0.495158851146698]}, "link_6": {"xyz": [0.3072592318058014, 3.2356183510273695e-07, 0.33003756403923035], "quat_xyzw": [0.7070741653442383, 0.7070736885070801, 0.006821868941187859, 0.006813632324337959]}, "link_left_finger": {"xyz": [0.3476185202598572, 0.0005009956657886505, 0.27030470967292786], "quat_xyzw": [0.49515318870544434, 0.5047945976257324, 0.5048007369041443, -0.49515867233276367]}, "link_right_finger": {"xyz": [0.2692331075668335, -0.000499434769153595, 0.26879289746284485], "quat_xyzw": [0.49515318870544434, 0.5047945976257324, 0.5048007369041443, -0.49515867233276367]}}}, {"t": 3.062, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.775276755073719e-07, 1.728003978729248, 1.7458001375198364, -1.5693358182907104, -1.1711418665072415e-05, 7.361890084212064e-07, 0.037499845027923584, -0.0375005267560482], "target": [-1.3209273952430323e-10, 1.7259162664413452, 1.7481485605239868, -1.5691851377487183, -2.4181168178927237e-10, -1.7775825256194366e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5377177000045776, 0.4591946303844452, 0.45919477939605713, -0.5377175211906433]}, "link_3": {"xyz": [0.061332084238529205, 2.501159906387329e-05, 0.3747444450855255], "quat_xyzw": [0.006291919853538275, 0.707078754901886, -0.7070788145065308, 0.0062917438335716724]}, "link_4": {"xyz": [0.30522558093070984, 2.49519944190979e-05, 0.43909478187561035], "quat_xyzw": [-0.49516263604164124, 0.5047909617424011, -0.5047909021377563, -0.49516281485557556]}, "link_5": {"xyz": [0.3461431860923767, -6.705522537231445e-08, 0.36586910486221313], "quat_xyzw": [0.5047881007194519, 0.5047938227653503, -0.4951598048210144, -0.4951656758785248]}, "link_6": {"xyz": [0.3073302209377289, 3.4361437428742647e-07, 0.3298150300979614], "quat_xyzw": [0.7070743441581726, 0.7070736885070801, 0.006812284700572491, 0.006804083939641714]}, "link_left_finger": {"xyz": [0.3476879298686981, 0.0005008615553379059, 0.270081102848053], "quat_xyzw": [0.4951600134372711, 0.504787802696228, 0.5047940611839294, -0.4951653480529785]}, "link_right_finger": {"xyz": [0.26930245757102966, -0.0004994608461856842, 0.2685714364051819], "quat_xyzw": [0.4951600134372711, 0.504787802696228, 0.5047940611839294, -0.4951653480529785]}}}, {"t": 3.082, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.692926557301689e-07, 1.7281063795089722, 1.744626760482788, -1.5681066513061523, -1.1726105185516644e-05, 8.536434279449168e-07, 0.03749972581863403, -0.03750056400895119], "target": [-1.3182441249703913e-10, 1.726026177406311, 1.7469736337661743, -1.5679486989974976, -2.413204913676026e-10, -1.7739715252318433e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5377411842346191, 0.45916709303855896, 0.4591672718524933, -0.5377410650253296]}, "link_3": {"xyz": [0.061358772218227386, 2.4981796741485596e-05, 0.37474021315574646], "quat_xyzw": [0.005840849597007036, 0.7070826888084412, -0.7070826888084412, 0.005840700585395098]}, "link_4": {"xyz": [0.3053342401981354, 2.4937093257904053e-05, 0.438779354095459], "quat_xyzw": [-0.49517443776130676, 0.5047794580459595, -0.5047793388366699, -0.4951745569705963]}, "link_5": {"xyz": [0.34624841809272766, -7.450580596923828e-08, 0.36555176973342896], "quat_xyzw": [0.5047764778137207, 0.5047822594642639, -0.49517151713371277, -0.4951774477958679]}, "link_6": {"xyz": [0.3074337840080261, 3.5617267712950706e-07, 0.3294995427131653], "quat_xyzw": [0.7070745229721069, 0.7070738077163696, 0.006795815192162991, 0.00678755110129714]}, "link_left_finger": {"xyz": [0.34778866171836853, 0.0005007460713386536, 0.269763708114624], "quat_xyzw": [0.49517184495925903, 0.5047762393951416, 0.5047826170921326, -0.49517717957496643]}, "link_right_finger": {"xyz": [0.2694031298160553, -0.0004994496703147888, 0.26825767755508423], "quat_xyzw": [0.49517184495925903, 0.5047762393951416, 0.5047826170921326, -0.49517717957496643]}}}, {"t": 3.102, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-3.354586510795343e-07, 1.7282438278198242, 1.743131160736084, -1.5665355920791626, -1.1544773769855965e-05, 8.437095857516397e-07, 0.03749961405992508, -0.037500616163015366], "target": [-1.3148296340581567e-10, 1.7261661291122437, 1.745478630065918, -1.5663753747940063, -2.406954358047386e-10, -1.769376867244432e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5377727150917053, 0.45913007855415344, 0.45913025736808777, -0.5377725958824158]}, "link_3": {"xyz": [0.061394669115543365, 2.4966895580291748e-05, 0.37473446130752563], "quat_xyzw": [0.005263476632535458, 0.7070872187614441, -0.7070871591567993, 0.005263311322778463]}, "link_4": {"xyz": [0.30547431111335754, 2.4907290935516357e-05, 0.4383750557899475], "quat_xyzw": [-0.4951901137828827, 0.5047640800476074, -0.5047639012336731, -0.49519017338752747]}, "link_5": {"xyz": [0.3463839292526245, -9.685754776000977e-08, 0.36514490842819214], "quat_xyzw": [0.5047611594200134, 0.5047668814659119, -0.4951872229576111, -0.49519309401512146]}, "link_6": {"xyz": [0.3075670599937439, 3.205932443961501e-07, 0.3290950655937195], "quat_xyzw": [0.707074761390686, 0.7070740461349487, 0.006773852743208408, 0.006765632890164852]}, "link_left_finger": {"xyz": [0.3479182720184326, 0.000500604510307312, 0.26935669779777527], "quat_xyzw": [0.4951874911785126, 0.5047608613967896, 0.5047671794891357, -0.4951927959918976]}, "link_right_finger": {"xyz": [0.26953262090682983, -0.0004995539784431458, 0.26785555481910706], "quat_xyzw": [0.4951874911785126, 0.5047608613967896, 0.5047671794891357, -0.4951927959918976]}}}, {"t": 3.122, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-4.116155878364225e-07, 1.7284135818481445, 1.741321086883545, -1.5646322965621948, -1.131903536588652e-05, 8.249575103036477e-07, 0.03749948740005493, -0.037500668317079544], "target": [-1.3107001595180634e-10, 1.7263354063034058, 1.7436703443527222, -1.5644724369049072, -2.3993945719169574e-10, -1.763819645894671e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5378117561340332, 0.45908448100090027, 0.4590846598148346, -0.5378116369247437]}, "link_3": {"xyz": [0.06143888086080551, 2.4981796741485596e-05, 0.3747275173664093], "quat_xyzw": [0.004563483875244856, 0.7070921063423157, -0.7070921063423157, 0.00456335349008441]}, "link_4": {"xyz": [0.30564409494400024, 2.4944543838500977e-05, 0.43788474798202515], "quat_xyzw": [-0.4952094256877899, 0.5047451257705688, -0.5047450065612793, -0.4952095150947571]}, "link_5": {"xyz": [0.3465481102466583, -5.960464477539063e-08, 0.36465150117874146], "quat_xyzw": [0.5047422647476196, 0.5047478675842285, -0.4952065944671631, -0.4952123165130615]}, "link_6": {"xyz": [0.30772846937179565, 3.5086122807115316e-07, 0.32860463857650757], "quat_xyzw": [0.7070749998092651, 0.7070743441581726, 0.006746695842593908, 0.006738682743161917]}, "link_left_finger": {"xyz": [0.34807509183883667, 0.0005004964768886566, 0.2688632011413574], "quat_xyzw": [0.4952068626880646, 0.5047420263290405, 0.5047481656074524, -0.4952120780944824]}, "link_right_finger": {"xyz": [0.2696893513202667, -0.0004996024072170258, 0.26736804842948914], "quat_xyzw": [0.4952068626880646, 0.5047420263290405, 0.5047481656074524, -0.4952120780944824]}}}, {"t": 3.142, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.661330142927909e-07, 1.7286131381988525, 1.7392040491104126, -1.562406063079834, -1.1615693438216113e-05, 7.355085358540236e-07, 0.03749933838844299, -0.03750079870223999], "target": [-1.3058712444724563e-10, 1.72653329372406, 1.7415560483932495, -1.5622472763061523, -2.390554976194892e-10, -1.7573213717536618e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5378575325012207, 0.45903080701828003, 0.45903098583221436, -0.5378573536872864]}, "link_3": {"xyz": [0.06149091571569443, 2.4981796741485596e-05, 0.37471920251846313], "quat_xyzw": [0.003744512563571334, 0.7070968747138977, -0.7070969343185425, 0.0037443109322339296]}, "link_4": {"xyz": [0.3058418035507202, 2.4925917387008667e-05, 0.4373105466365814], "quat_xyzw": [-0.4952322244644165, 0.5047227740287781, -0.5047226548194885, -0.49523240327835083]}, "link_5": {"xyz": [0.3467392325401306, -8.568167686462402e-08, 0.36407357454299927], "quat_xyzw": [0.5047198534011841, 0.5047255158424377, -0.4952293038368225, -0.4952352046966553]}, "link_6": {"xyz": [0.3079163432121277, 3.4042750485241413e-07, 0.32803022861480713], "quat_xyzw": [0.707075297832489, 0.7070746421813965, 0.0067148408852517605, 0.006706652697175741]}, "link_left_finger": {"xyz": [0.34825757145881653, 0.0005003549158573151, 0.2682851552963257], "quat_xyzw": [0.4952296018600464, 0.5047195553779602, 0.5047258138656616, -0.4952349364757538]}, "link_right_finger": {"xyz": [0.26987171173095703, -0.000499725341796875, 0.26679709553718567], "quat_xyzw": [0.4952296018600464, 0.5047195553779602, 0.5047258138656616, -0.4952349364757538]}}}, {"t": 3.162, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-3.1887671525510086e-07, 1.7288408279418945, 1.7367875576019287, -1.5598641633987427, -1.1495877515699249e-05, 7.897036198301066e-07, 0.03749920055270195, -0.03750094771385193], "target": [-1.3003589871551924e-10, 1.7267591953277588, 1.7391424179077148, -1.5597072839736938, -2.3804638815683177e-10, -1.7499034166146288e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5379098057746887, 0.4589695930480957, 0.45896977186203003, -0.5379096269607544]}, "link_3": {"xyz": [0.06155025213956833, 2.4996697902679443e-05, 0.37470975518226624], "quat_xyzw": [0.002809688448905945, 0.7071011662483215, -0.7071012258529663, 0.002809494035318494]}, "link_4": {"xyz": [0.30606570839881897, 2.493336796760559e-05, 0.4366547763347626], "quat_xyzw": [-0.49525800347328186, 0.5046974420547485, -0.5046973824501038, -0.4952582120895386]}, "link_5": {"xyz": [0.34695565700531006, -8.568167686462402e-08, 0.36341363191604614], "quat_xyzw": [0.5046945810317993, 0.5047001242637634, -0.49525517225265503, -0.49526092410087585]}, "link_6": {"xyz": [0.30812907218933105, 3.2549723982810974e-07, 0.32737424969673157], "quat_xyzw": [0.7070756554603577, 0.7070749402046204, 0.0066785975359380245, 0.006670603062957525]}, "link_left_finger": {"xyz": [0.3484641909599304, 0.0005001723766326904, 0.26762503385543823], "quat_xyzw": [0.4952555298805237, 0.5046943426132202, 0.5047004818916321, -0.49526068568229675]}, "link_right_finger": {"xyz": [0.270078182220459, -0.0004999004304409027, 0.2661449909210205], "quat_xyzw": [0.4952555298805237, 0.5046943426132202, 0.5047004818916321, -0.49526068568229675]}}}, {"t": 3.182, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.839037651052422e-07, 1.7290973663330078, 1.7340784072875977, -1.5570130348205566, -1.3182719158066902e-05, 4.152605868057435e-07, 0.03749919310212135, -0.03750096261501312], "target": [-1.2941792082443726e-10, 1.7270123958587646, 1.7364364862442017, -1.5568597316741943, -2.3691509865031435e-10, -1.741587152270796e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5379685759544373, 0.4589007496833801, 0.4589006304740906, -0.537968635559082]}, "link_3": {"xyz": [0.06161712855100632, 2.5035813450813293e-05, 0.37469911575317383], "quat_xyzw": [0.0017609444912523031, 0.7071046233177185, -0.7071046233177185, 0.0017611513612791896]}, "link_4": {"xyz": [0.30631527304649353, 2.5114044547080994e-05, 0.4359187185764313], "quat_xyzw": [-0.49528712034225464, 0.5046689510345459, -0.5046690702438354, -0.4952869713306427]}, "link_5": {"xyz": [0.3471968173980713, 1.3224780559539795e-07, 0.3626728653907776], "quat_xyzw": [0.5046655535697937, 0.5046724081039429, -0.495283842086792, -0.49529021978378296]}, "link_6": {"xyz": [0.3083661198616028, 5.801848601549864e-07, 0.32663795351982117], "quat_xyzw": [0.7070756554603577, 0.7070757746696472, 0.006638726219534874, 0.0066293650306761265]}, "link_left_finger": {"xyz": [0.348694384098053, 0.0005005970597267151, 0.26688408851623535], "quat_xyzw": [0.49528366327285767, 0.504665732383728, 0.5046722292900085, -0.4952903687953949]}, "link_right_finger": {"xyz": [0.2703081965446472, -0.0004995912313461304, 0.2654130458831787], "quat_xyzw": [0.49528366327285767, 0.504665732383728, 0.5046722292900085, -0.4952903687953949]}}}, {"t": 3.202, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.965364842566487e-07, 1.7293802499771118, 1.7310842275619507, -1.5538612604141235, -1.3553290955314878e-05, 3.8732238749616954e-07, 0.03749933838844299, -0.03750087693333626], "target": [-1.2873477284180979e-10, 1.7272922992706299, 1.733445167541504, -1.5537117719650269, -2.3566454343537657e-10, -1.7323940892932654e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5380333662033081, 0.45882466435432434, 0.45882448554039, -0.5380335450172424]}, "link_3": {"xyz": [0.06169088929891586, 2.5024637579917908e-05, 0.3746872842311859], "quat_xyzw": [0.0006023086607456207, 0.7071065902709961, -0.7071065306663513, 0.0006026321789249778]}, "link_4": {"xyz": [0.30658838152885437, 2.5140121579170227e-05, 0.43510469794273376], "quat_xyzw": [-0.495318740606308, 0.5046379566192627, -0.5046380758285522, -0.4953184425830841]}, "link_5": {"xyz": [0.3474607467651367, 1.6577541828155518e-07, 0.3618537485599518], "quat_xyzw": [0.504634439945221, 0.504641592502594, -0.4953153133392334, -0.4953218996524811]}, "link_6": {"xyz": [0.30862554907798767, 6.224436219781637e-07, 0.32582366466522217], "quat_xyzw": [0.7070760130882263, 0.7070761919021606, 0.0065946681424975395, 0.0065849521197378635]}, "link_left_finger": {"xyz": [0.34894633293151855, 0.0005008168518543243, 0.2660647928714752], "quat_xyzw": [0.4953150749206543, 0.5046346187591553, 0.5046413540840149, -0.4953220784664154]}, "link_right_finger": {"xyz": [0.27055996656417847, -0.000499434769153595, 0.26460352540016174], "quat_xyzw": [0.4953150749206543, 0.5046346187591553, 0.5046413540840149, -0.4953220784664154]}}}, {"t": 3.222, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-5.370396252146747e-07, 1.729689359664917, 1.7278114557266235, -1.5504175424575806, -1.1349243322911207e-05, 5.83968244427524e-07, 0.03749941289424896, -0.03750084340572357], "target": [-1.2798806459102252e-10, 1.7275983095169067, 1.7301756143569946, -1.5502710342407227, -2.3429758133630685e-10, -1.7223454606973831e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071066498756409, 0.7071070075035095]}, "link_2": {"xyz": [0.020000001415610313, 2.499297261238098e-05, 0.11400000005960464], "quat_xyzw": [0.5381044745445251, 0.4587412476539612, 0.45874151587486267, -0.538104236125946]}, "link_3": {"xyz": [0.06177150458097458, 2.4978071451187134e-05, 0.37467435002326965], "quat_xyzw": [-0.0006638130871579051, 0.7071064710617065, -0.7071065306663513, -0.0006641082582063973]}, "link_4": {"xyz": [0.306883841753006, 2.4888664484024048e-05, 0.43421414494514465], "quat_xyzw": [-0.4953533709049225, 0.5046038627624512, -0.5046036839485168, -0.495353639125824]}, "link_5": {"xyz": [0.3477460741996765, -1.30385160446167e-07, 0.360957533121109], "quat_xyzw": [0.504601001739502, 0.5046064853668213, -0.49535053968429565, -0.49535638093948364]}, "link_6": {"xyz": [0.30890586972236633, 2.8774957172572613e-07, 0.3249328136444092], "quat_xyzw": [0.7070768475532532, 0.7070762515068054, 0.006544935517013073, 0.006536930333822966]}, "link_left_finger": {"xyz": [0.3492183983325958, 0.0005003586411476135, 0.26516836881637573], "quat_xyzw": [0.49535083770751953, 0.5046007037162781, 0.5046067833900452, -0.49535608291625977]}, "link_right_finger": {"xyz": [0.270831823348999, -0.0004998445510864258, 0.26371797919273376], "quat_xyzw": [0.49535083770751953, 0.5046007037162781, 0.5046067833900452, -0.49535608291625977]}}}, {"t": 3.242, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.578527471541747e-07, 1.7300236225128174, 1.7242670059204102, -1.5466902256011963, -1.1975658708252013e-05, 5.885816563022672e-07, 0.03749941661953926, -0.03750082850456238], "target": [-1.2717936426209775e-10, 1.7279298305511475, 1.7266346216201782, -1.5465445518493652, -2.3281716832190824e-10, -1.7114627770542512e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5381811261177063, 0.4586513936519623, 0.458651602268219, -0.538180947303772]}, "link_3": {"xyz": [0.061858586966991425, 2.4981796741485596e-05, 0.3746604323387146], "quat_xyzw": [-0.0020351209677755833, 0.7071038484573364, -0.7071038484573364, -0.002035358687862754]}, "link_4": {"xyz": [0.3071999251842499, 2.489611506462097e-05, 0.4332490861415863], "quat_xyzw": [-0.4953915476799011, 0.5045663714408875, -0.5045661926269531, -0.49539169669151306]}, "link_5": {"xyz": [0.3480510711669922, -1.1548399925231934e-07, 0.3599863052368164], "quat_xyzw": [0.5045633912086487, 0.5045692324638367, -0.49538856744766235, -0.49539467692375183]}, "link_6": {"xyz": [0.30920541286468506, 3.1478703022003174e-07, 0.32396745681762695], "quat_xyzw": [0.7070773243904114, 0.7070767283439636, 0.006491711363196373, 0.006483244244009256]}, "link_left_finger": {"xyz": [0.34950894117355347, 0.0005004368722438812, 0.26419690251350403], "quat_xyzw": [0.49538880586624146, 0.5045630931854248, 0.5045694708824158, -0.49539437890052795]}, "link_right_finger": {"xyz": [0.2711220979690552, -0.0004997588694095612, 0.26275837421417236], "quat_xyzw": [0.49538880586624146, 0.5045630931854248, 0.5045694708824158, -0.49539437890052795]}}}, {"t": 3.262, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-3.341508545418037e-07, 1.7303823232650757, 1.720458745956421, -1.542683482170105, -1.1667049875541124e-05, 6.076535896681889e-07, 0.03749944269657135, -0.037500765174627304], "target": [-1.2631026780063337e-10, 1.7282859086990356, 1.7228292226791382, -1.5425398349761963, -2.3122619097204478e-10, -1.6997674101570937e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5382633805274963, 0.45855480432510376, 0.4585550129413605, -0.538263201713562]}, "link_3": {"xyz": [0.0619521364569664, 2.4981796741485596e-05, 0.3746453821659088], "quat_xyzw": [-0.0035084113478660583, 0.707098126411438, -0.707098126411438, -0.003508633701130748]}, "link_4": {"xyz": [0.3075355291366577, 2.491474151611328e-05, 0.4322111904621124], "quat_xyzw": [-0.4954320192337036, 0.504526674747467, -0.5045264959335327, -0.49543216824531555]}, "link_5": {"xyz": [0.3483749330043793, -8.940696716308594e-08, 0.35894185304641724], "quat_xyzw": [0.504523754119873, 0.5045294761657715, -0.4954290986061096, -0.49543508887290955]}, "link_6": {"xyz": [0.3095235228538513, 3.3366086427122355e-07, 0.3229292631149292], "quat_xyzw": [0.7070779204368591, 0.7070772647857666, 0.00643493328243494, 0.006426665931940079]}, "link_left_finger": {"xyz": [0.3498174250125885, 0.0005004517734050751, 0.26315224170684814], "quat_xyzw": [0.4954293668270111, 0.5045234560966492, 0.5045297741889954, -0.4954347610473633]}, "link_right_finger": {"xyz": [0.2714304029941559, -0.0004996955394744873, 0.2617262303829193], "quat_xyzw": [0.4954293668270111, 0.5045234560966492, 0.5045297741889954, -0.4954347610473633]}}}, {"t": 3.282, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-3.888827109221893e-07, 1.730766773223877, 1.7163918018341064, -1.5384037494659424, -1.1567997717065737e-05, 6.821738907092367e-07, 0.03749943524599075, -0.03750073164701462], "target": [-1.2538237115222728e-10, 1.7286661863327026, 1.718766212463379, -1.5382641553878784, -2.295275636221561e-10, -1.6872805930212564e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5383514761924744, 0.4584513306617737, 0.458451509475708, -0.5383513569831848]}, "link_3": {"xyz": [0.062052346765995026, 2.4981796741485596e-05, 0.3746292293071747], "quat_xyzw": [-0.005082218442112207, 0.7070885300636292, -0.7070885300636292, -0.005082371179014444]}, "link_4": {"xyz": [0.30788955092430115, 2.493336796760559e-05, 0.4311012625694275], "quat_xyzw": [-0.49547532200813293, 0.5044841170310974, -0.5044839978218079, -0.4954754412174225]}, "link_5": {"xyz": [0.3487163782119751, -7.078051567077637e-08, 0.3578249216079712], "quat_xyzw": [0.5044811964035034, 0.5044869184494019, -0.4954724609851837, -0.4954783320426941]}, "link_6": {"xyz": [0.3098587989807129, 3.4770346246659756e-07, 0.321819007396698], "quat_xyzw": [0.7070783972740173, 0.7070778012275696, 0.006374186836183071, 0.006365995854139328]}, "link_left_finger": {"xyz": [0.3501424491405487, 0.0005004629492759705, 0.262035071849823], "quat_xyzw": [0.49547266960144043, 0.5044808983802795, 0.504487156867981, -0.4954780340194702]}, "link_right_finger": {"xyz": [0.2717551589012146, -0.0004996657371520996, 0.2606225311756134], "quat_xyzw": [0.49547266960144043, 0.5044808983802795, 0.504487156867981, -0.4954780340194702]}}}, {"t": 3.302, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [8.573383070142881e-08, 1.731174349784851, 1.7120741605758667, -1.5338616371154785, -1.3001753359276336e-05, 9.421259505870694e-07, 0.03749941289424896, -0.037500668317079544], "target": [-1.2439725638468957e-10, 1.7290699481964111, 1.7144527435302734, -1.5337247848510742, -2.2772418672989403e-10, -1.6740238362178417e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5384447574615479, 0.4583417773246765, 0.45834168791770935, -0.5384448766708374]}, "link_3": {"xyz": [0.062158532440662384, 2.5006011128425598e-05, 0.37461206316947937], "quat_xyzw": [-0.006752932444214821, 0.7070745825767517, -0.7070745229721069, -0.006752721033990383]}, "link_4": {"xyz": [0.3082598149776459, 2.5076791644096375e-05, 0.42992186546325684], "quat_xyzw": [-0.4955216348171234, 0.5044386386871338, -0.5044387578964233, -0.4955214560031891]}, "link_5": {"xyz": [0.34907323122024536, 9.499490261077881e-08, 0.3566380739212036], "quat_xyzw": [0.5044353604316711, 0.5044420957565308, -0.49551838636398315, -0.49552473425865173]}, "link_6": {"xyz": [0.3102090358734131, 5.398323992267251e-07, 0.3206392526626587], "quat_xyzw": [0.7070788741111755, 0.7070784568786621, 0.0063100247643888, 0.006300772540271282]}, "link_left_finger": {"xyz": [0.3504817485809326, 0.0005007162690162659, 0.2608479857444763], "quat_xyzw": [0.49551844596862793, 0.5044353008270264, 0.5044421553611755, -0.49552467465400696]}, "link_right_finger": {"xyz": [0.272094190120697, -0.0004993081092834473, 0.2594497799873352], "quat_xyzw": [0.49551844596862793, 0.5044353008270264, 0.5044421553611755, -0.49552467465400696]}}}, {"t": 3.322, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.761684925189911e-07, 1.7316044569015503, 1.7075138092041016, -1.529062271118164, -1.3568843314715195e-05, 6.616016889893217e-07, 0.037499479949474335, -0.03750051185488701], "target": [-1.2335651944361814e-10, 1.7294963598251343, 1.7098957300186157, -1.5289291143417358, -2.2581898850848603e-10, -1.6600185115400734e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5385433435440063, 0.4582259953022003, 0.458225816488266, -0.5385434627532959]}, "link_3": {"xyz": [0.062270648777484894, 2.5039538741111755e-05, 0.37459391355514526], "quat_xyzw": [-0.008517256006598473, 0.7070555090904236, -0.7070555090904236, -0.008516993373632431]}, "link_4": {"xyz": [0.3086448907852173, 2.5136396288871765e-05, 0.4286748766899109], "quat_xyzw": [-0.4955698549747467, 0.5043913125991821, -0.5043914318084717, -0.4955696761608124]}, "link_5": {"xyz": [0.34944429993629456, 1.5459954738616943e-07, 0.3553832769393921], "quat_xyzw": [0.5043878555297852, 0.5043948888778687, -0.4955664873123169, -0.4955730736255646]}, "link_6": {"xyz": [0.3105732202529907, 6.150221452116966e-07, 0.3193918764591217], "quat_xyzw": [0.7070793509483337, 0.7070792317390442, 0.00624261936172843, 0.006232998333871365]}, "link_left_finger": {"xyz": [0.3508344888687134, 0.0005009248852729797, 0.2595928907394409], "quat_xyzw": [0.49556636810302734, 0.5043879151344299, 0.5043947696685791, -0.49557310342788696]}, "link_right_finger": {"xyz": [0.27244672179222107, -0.0004990696907043457, 0.2582096457481384], "quat_xyzw": [0.49556636810302734, 0.5043879151344299, 0.5043947696685791, -0.49557310342788696]}}}, {"t": 3.3419999999999996, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.6932078494846792e-07, 1.732056736946106, 1.702716588973999, -1.5240142345428467, -1.2349110875220504e-05, 5.681480388375348e-07, 0.03749954327940941, -0.037500374019145966], "target": [-1.2226174239682308e-10, 1.7299450635910034, 1.7051020860671997, -1.5238844156265259, -2.2381486941558393e-10, -1.6452861295590537e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5386470556259155, 0.45810404419898987, 0.4581041634082794, -0.538646936416626]}, "link_3": {"xyz": [0.062388502061367035, 2.5000423192977905e-05, 0.37457475066185], "quat_xyzw": [-0.010372892953455448, 0.707030713558197, -0.707030713558197, -0.010372992604970932]}, "link_4": {"xyz": [0.3090432286262512, 2.4963170289993286e-05, 0.4273616075515747], "quat_xyzw": [-0.4956205487251282, 0.5043414235115051, -0.5043413639068604, -0.49562063813209534]}, "link_5": {"xyz": [0.3498278558254242, -4.0978193283081055e-08, 0.3540617823600769], "quat_xyzw": [0.5043383240699768, 0.5043444633483887, -0.49561747908592224, -0.49562370777130127]}, "link_6": {"xyz": [0.31094950437545776, 4.077010089531541e-07, 0.3180782198905945], "quat_xyzw": [0.7070801854133606, 0.7070797085762024, 0.006170916836708784, 0.0061621530912816525]}, "link_left_finger": {"xyz": [0.3511987030506134, 0.0005006827414035797, 0.25827109813690186], "quat_xyzw": [0.49561765789985657, 0.5043381452560425, 0.504344642162323, -0.49562352895736694]}, "link_right_finger": {"xyz": [0.2728106379508972, -0.0004992000758647919, 0.2569037079811096], "quat_xyzw": [0.49561765789985657, 0.5043381452560425, 0.504344642162323, -0.49562352895736694]}}}, {"t": 3.3619999999999997, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [3.4978473451019454e-08, 1.732530951499939, 1.6976892948150635, -1.5187242031097412, -1.2852745385316666e-05, 4.5093599965184694e-07, 0.037499599158763885, -0.03750024363398552], "target": [-1.211145211899023e-10, 1.7304152250289917, 1.7000788450241089, -1.5185980796813965, -2.2171474378662737e-10, -1.6298477845122505e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5387556552886963, 0.45797643065452576, 0.45797643065452576, -0.5387556552886963]}, "link_3": {"xyz": [0.06251201778650284, 2.5002285838127136e-05, 0.37455469369888306], "quat_xyzw": [-0.01231781579554081, 0.7069995403289795, -0.7069994807243347, -0.012317750602960587]}, "link_4": {"xyz": [0.30945345759391785, 2.5024637579917908e-05, 0.4259837865829468], "quat_xyzw": [-0.4956739544868469, 0.5042890310287476, -0.5042890310287476, -0.49567386507987976]}, "link_5": {"xyz": [0.3502226173877716, 4.284083843231201e-08, 0.35267531871795654], "quat_xyzw": [0.5042857527732849, 0.5042923092842102, -0.49567070603370667, -0.49567711353302]}, "link_6": {"xyz": [0.3113366961479187, 4.976172931492329e-07, 0.3166999816894531], "quat_xyzw": [0.7070807218551636, 0.7070804834365845, 0.0060964059084653854, 0.006087218876928091]}, "link_left_finger": {"xyz": [0.35157325863838196, 0.0005008727312088013, 0.2568843364715576], "quat_xyzw": [0.49567073583602905, 0.5042856931686401, 0.504292368888855, -0.49567705392837524]}, "link_right_finger": {"xyz": [0.2731848955154419, -0.0004989467561244965, 0.25553351640701294], "quat_xyzw": [0.49567073583602905, 0.5042856931686401, 0.504292368888855, -0.49567705392837524]}}}, {"t": 3.3819999999999997, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [1.409651062544981e-09, 1.7330265045166016, 1.6924394369125366, -1.5131992101669312, -1.287134818994673e-05, 5.419290118879871e-07, 0.03749968856573105, -0.03750009462237358], "target": [-1.1991643789066586e-10, 1.7309061288833618, 1.6948329210281372, -1.5130773782730103, -2.1952151207926818e-10, -1.613725125748644e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5388690829277039, 0.4578429162502289, 0.4578429162502289, -0.5388690829277039]}, "link_3": {"xyz": [0.06264113634824753, 2.5002285838127136e-05, 0.3745335638523102], "quat_xyzw": [-0.014348751865327358, 0.7069612145423889, -0.7069612145423889, -0.014348678290843964]}, "link_4": {"xyz": [0.3098739683628082, 2.503208816051483e-05, 0.4245430529117584], "quat_xyzw": [-0.4957295060157776, 0.5042343735694885, -0.5042344331741333, -0.4957294464111328]}, "link_5": {"xyz": [0.35062694549560547, 4.284083843231201e-08, 0.3512256145477295], "quat_xyzw": [0.5042311549186707, 0.5042376518249512, -0.4957263171672821, -0.4957326352596283]}, "link_6": {"xyz": [0.31173306703567505, 4.796311259269714e-07, 0.31525883078575134], "quat_xyzw": [0.7070813775062561, 0.707081139087677, 0.00601843511685729, 0.006009363569319248]}, "link_left_finger": {"xyz": [0.35195648670196533, 0.0005009397864341736, 0.2554343342781067], "quat_xyzw": [0.4957263469696045, 0.5042310953140259, 0.504237711429596, -0.4957325756549835]}, "link_right_finger": {"xyz": [0.2735678255558014, -0.0004988312721252441, 0.2541007995605469], "quat_xyzw": [0.4957263469696045, 0.5042310953140259, 0.504237711429596, -0.4957325756549835]}}}, {"t": 3.4019999999999997, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.1218818702095632e-08, 1.7335420846939087, 1.6869733333587646, -1.5074481964111328, -1.2718018297164235e-05, 5.246603791420057e-07, 0.03749977797269821, -0.037499990314245224], "target": [-1.186690884447117e-10, 1.7314172983169556, 1.6893712282180786, -1.5073297023773193, -2.17238088628946e-10, -1.59693938628358e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5389871001243591, 0.45770400762557983, 0.45770400762557983, -0.5389871001243591]}, "link_3": {"xyz": [0.06277544051408768, 2.5002285838127136e-05, 0.37451156973838806], "quat_xyzw": [-0.016463052481412888, 0.7069151401519775, -0.7069151401519775, -0.01646299473941326]}, "link_4": {"xyz": [0.3103030025959015, 2.503208816051483e-05, 0.42304131388664246], "quat_xyzw": [-0.4957876205444336, 0.5041772127151489, -0.5041772723197937, -0.4957875907421112]}, "link_5": {"xyz": [0.3510390818119049, 4.284083843231201e-08, 0.3497144877910614], "quat_xyzw": [0.5041740536689758, 0.5041804313659668, -0.4957844614982605, -0.4957907199859619]}, "link_6": {"xyz": [0.3121369183063507, 4.853063728660345e-07, 0.31375667452812195], "quat_xyzw": [0.7070820927619934, 0.7070817947387695, 0.005936844274401665, 0.005927919410169125]}, "link_left_finger": {"xyz": [0.3523465394973755, 0.0005010291934013367, 0.2539229393005371], "quat_xyzw": [0.4957845211029053, 0.504173994064331, 0.5041804909706116, -0.49579063057899475]}, "link_right_finger": {"xyz": [0.2739575505256653, -0.0004987306892871857, 0.25260743498802185], "quat_xyzw": [0.4957845211029053, 0.504173994064331, 0.5041804909706116, -0.49579063057899475]}}}, {"t": 3.4219999999999997, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [6.187526047085612e-09, 1.7340775728225708, 1.681299090385437, -1.501475214958191, -1.2882355804322287e-05, 4.539786289115e-07, 0.037499845027923584, -0.037499915808439255], "target": [-1.1737405491984987e-10, 1.7319480180740356, 1.683700680732727, -1.5013622045516968, -2.1486738777110048e-10, -1.579512076688161e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5391096472740173, 0.4575596749782562, 0.4575596749782562, -0.5391096472740173]}, "link_3": {"xyz": [0.06291493028402328, 2.5002285838127136e-05, 0.37448862195014954], "quat_xyzw": [-0.018657874315977097, 0.7068606019020081, -0.7068606019020081, -0.018657797947525978]}, "link_4": {"xyz": [0.31073907017707825, 2.503208816051483e-05, 0.42148035764694214], "quat_xyzw": [-0.49584731459617615, 0.5041185617446899, -0.5041185617446899, -0.49584725499153137]}, "link_5": {"xyz": [0.351457804441452, 5.029141902923584e-08, 0.34814387559890747], "quat_xyzw": [0.5041152834892273, 0.5041218400001526, -0.4958440661430359, -0.49585047364234924]}, "link_6": {"xyz": [0.31254714727401733, 4.986795829609036e-07, 0.3121952712535858], "quat_xyzw": [0.7070827484130859, 0.7070825099945068, 0.005853259935975075, 0.005844102241098881]}, "link_left_finger": {"xyz": [0.35274258255958557, 0.0005011223256587982, 0.2523519992828369], "quat_xyzw": [0.4958440959453583, 0.5041152238845825, 0.5041218400001526, -0.49585041403770447]}, "link_right_finger": {"xyz": [0.2743533253669739, -0.0004986226558685303, 0.2510550916194916], "quat_xyzw": [0.4958440959453583, 0.5041152238845825, 0.5041218400001526, -0.49585041403770447]}}}, {"t": 3.4419999999999997, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [3.649820712325891e-07, 1.7346312999725342, 1.675422191619873, -1.4952927827835083, -1.3896252312406432e-05, 4.2825959667425195e-07, 0.037499960511922836, -0.03749982267618179], "target": [-1.160329402005722e-10, 1.7324976921081543, 1.6778284311294556, -1.4951823949813843, -2.1241229608559564e-10, -1.5614645687556106e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5392361879348755, 0.4574104845523834, 0.4574102759361267, -0.5392363667488098]}, "link_3": {"xyz": [0.06305918842554092, 2.5024637579917908e-05, 0.3744647800922394], "quat_xyzw": [-0.020930709317326546, 0.7067969441413879, -0.7067969441413879, -0.020930364727973938]}, "link_4": {"xyz": [0.31118038296699524, 2.514384686946869e-05, 0.41986188292503357], "quat_xyzw": [-0.49590998888015747, 0.5040568709373474, -0.5040570497512817, -0.495909720659256]}, "link_5": {"xyz": [0.35188087821006775, 1.695007085800171e-07, 0.3465152978897095], "quat_xyzw": [0.5040533542633057, 0.5040605664253235, -0.4959064722061157, -0.49591320753097534]}, "link_6": {"xyz": [0.31296131014823914, 6.432237569242716e-07, 0.3105763792991638], "quat_xyzw": [0.7070832848548889, 0.7070833444595337, 0.005765821319073439, 0.005755966063588858]}, "link_left_finger": {"xyz": [0.3531418740749359, 0.0005014538764953613, 0.25072312355041504], "quat_xyzw": [0.49590635299682617, 0.50405353307724, 0.5040604472160339, -0.49591338634490967]}, "link_right_finger": {"xyz": [0.27475225925445557, -0.0004983320832252502, 0.24944566190242767], "quat_xyzw": [0.49590635299682617, 0.50405353307724, 0.5040604472160339, -0.49591338634490967]}}}, {"t": 3.4619999999999997, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [3.2810646644065855e-07, 1.7352033853530884, 1.6693507432937622, -1.4889051914215088, -1.4037264008948114e-05, 5.1624186880872e-07, 0.03750013932585716, -0.03749970346689224], "target": [-1.1464731941579487e-10, 1.7330654859542847, 1.6717612743377686, -1.4887975454330444, -2.0987575566344674e-10, -1.542818095501275e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5393670201301575, 0.45725616812705994, 0.4572559893131256, -0.539367139339447]}, "link_3": {"xyz": [0.06320822983980179, 2.5024637579917908e-05, 0.37444010376930237], "quat_xyzw": [-0.023278377950191498, 0.7067235112190247, -0.7067235112190247, -0.02327808551490307]}, "link_4": {"xyz": [0.31162548065185547, 2.512894570827484e-05, 0.41818779706954956], "quat_xyzw": [-0.49597448110580444, 0.5039933919906616, -0.503993570804596, -0.49597424268722534]}, "link_5": {"xyz": [0.35230720043182373, 1.5459954738616943e-07, 0.34483081102371216], "quat_xyzw": [0.5039898157119751, 0.5039971470832825, -0.4959709644317627, -0.4959777593612671]}, "link_6": {"xyz": [0.31337839365005493, 6.457557901740074e-07, 0.308901846408844], "quat_xyzw": [0.707084059715271, 0.707084059715271, 0.005675365682691336, 0.005665380973368883]}, "link_left_finger": {"xyz": [0.35354363918304443, 0.0005016550421714783, 0.24903830885887146], "quat_xyzw": [0.49597081542015076, 0.5039899349212646, 0.5039969682693481, -0.49597787857055664]}, "link_right_finger": {"xyz": [0.2751537263393402, -0.0004982165992259979, 0.2477809339761734], "quat_xyzw": [0.49597081542015076, 0.5039899349212646, 0.5039969682693481, -0.49597787857055664]}}}, {"t": 3.4819999999999998, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.2964822221638315e-07, 1.7357933521270752, 1.663091778755188, -1.4823180437088013, -1.3714312444790266e-05, 3.033072459857067e-07, 0.0375002920627594, -0.0374995656311512], "target": [-1.1321878851111578e-10, 1.7336509227752686, 1.6655062437057495, -1.4822149276733398, -2.072606530845178e-10, -1.5235943062741342e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5395019054412842, 0.45709702372550964, 0.4570969343185425, -0.539501965045929]}, "link_3": {"xyz": [0.06336184591054916, 2.5020912289619446e-05, 0.3744145333766937], "quat_xyzw": [-0.025698302313685417, 0.7066397070884705, -0.7066397070884705, -0.025698140263557434]}, "link_4": {"xyz": [0.3120729923248291, 2.508796751499176e-05, 0.416459858417511], "quat_xyzw": [-0.49604034423828125, 0.503928542137146, -0.5039286613464355, -0.4960402250289917]}, "link_5": {"xyz": [0.3527355194091797, 9.12696123123169e-08, 0.3430922329425812], "quat_xyzw": [0.503925085067749, 0.5039321184158325, -0.49603691697120667, -0.4960436522960663]}, "link_6": {"xyz": [0.31379735469818115, 5.621550371870399e-07, 0.3071734607219696], "quat_xyzw": [0.7070848345756531, 0.7070848345756531, 0.005582764279097319, 0.0055730282329022884]}, "link_left_finger": {"xyz": [0.3539469242095947, 0.0005016997456550598, 0.2472994178533554], "quat_xyzw": [0.4960368573665619, 0.5039252042770386, 0.5039320588111877, -0.49604374170303345]}, "link_right_finger": {"xyz": [0.27555668354034424, -0.0004981681704521179, 0.2460625171661377], "quat_xyzw": [0.4960368573665619, 0.5039252042770386, 0.5039320588111877, -0.49604374170303345]}}}, {"t": 3.502, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.8112012867277372e-07, 1.7364009618759155, 1.656651496887207, -1.4755393266677856, -1.2464518476917874e-05, 3.855111856410076e-07, 0.037500347942113876, -0.03749949857592583], "target": [-1.1174893649323892e-10, 1.7342532873153687, 1.6590702533721924, -1.4754419326782227, -2.0456990268424846e-10, -1.5038142953116562e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5396408438682556, 0.45693299174308777, 0.4569331109523773, -0.5396407246589661]}, "link_3": {"xyz": [0.06352008134126663, 2.5000423192977905e-05, 0.3743881583213806], "quat_xyzw": [-0.028188148513436317, 0.7065446972846985, -0.7065446972846985, -0.028188254684209824]}, "link_4": {"xyz": [0.3125212788581848, 2.4963170289993286e-05, 0.41467955708503723], "quat_xyzw": [-0.4961080849170685, 0.5038619041442871, -0.5038618445396423, -0.49610817432403564]}, "link_5": {"xyz": [0.35316407680511475, -4.0978193283081055e-08, 0.34130096435546875], "quat_xyzw": [0.5038588047027588, 0.5038649439811707, -0.49610498547554016, -0.4961112439632416]}, "link_6": {"xyz": [0.3142162263393402, 4.00279532186687e-07, 0.30539265275001526], "quat_xyzw": [0.7070857286453247, 0.707085371017456, 0.005487118382006884, 0.005478357430547476]}, "link_left_finger": {"xyz": [0.35434967279434204, 0.000501491129398346, 0.24550779163837433], "quat_xyzw": [0.4961051046848297, 0.5038586258888245, 0.5038650631904602, -0.49611106514930725]}, "link_right_finger": {"xyz": [0.2759591341018677, -0.0004983358085155487, 0.2442920207977295], "quat_xyzw": [0.4961051046848297, 0.5038586258888245, 0.5038650631904602, -0.49611106514930725]}}}, {"t": 3.522, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.7159948129119584e-07, 1.737024188041687, 1.6500366926193237, -1.468579649925232, -1.2368311217869632e-05, 5.617299052573799e-07, 0.037500299513339996, -0.03749949485063553], "target": [-1.1023934542997438e-10, 1.7348718643188477, 1.6524603366851807, -1.4684858322143555, -2.0180643267586618e-10, -1.4834997119628213e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5397831797599792, 0.456764817237854, 0.45676490664482117, -0.5397831201553345]}, "link_3": {"xyz": [0.06368235498666763, 2.4985522031784058e-05, 0.3743610084056854], "quat_xyzw": [-0.03074502758681774, 0.7064380645751953, -0.7064380645751953, -0.030745061114430428]}, "link_4": {"xyz": [0.3129686713218689, 2.497062087059021e-05, 0.4128490686416626], "quat_xyzw": [-0.4961782395839691, 0.5037927627563477, -0.5037927627563477, -0.4961782693862915]}, "link_5": {"xyz": [0.3535909950733185, -3.3527612686157227e-08, 0.3394591808319092], "quat_xyzw": [0.5037896037101746, 0.503795862197876, -0.4961751699447632, -0.49618133902549744]}, "link_6": {"xyz": [0.31463316082954407, 4.067260306328535e-07, 0.3035617470741272], "quat_xyzw": [0.707086443901062, 0.7070861458778381, 0.005388651508837938, 0.005379864480346441]}, "link_left_finger": {"xyz": [0.3547499477863312, 0.0005014576017856598, 0.24366571009159088], "quat_xyzw": [0.49617522954940796, 0.5037895441055298, 0.5037959218025208, -0.4961812496185303]}, "link_right_finger": {"xyz": [0.27635902166366577, -0.0004983320832252502, 0.24247175455093384], "quat_xyzw": [0.49617522954940796, 0.5037895441055298, 0.5037959218025208, -0.4961812496185303]}}}, {"t": 3.542, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.183725733573283e-08, 1.7376620769500732, 1.6432554721832275, -1.461445927619934, -1.2705176231975202e-05, 3.340799992201937e-07, 0.03750024363398552, -0.03749950975179672], "target": [-1.0869161820581397e-10, 1.7355061769485474, 1.6456834077835083, -1.4613540172576904, -1.9897311576144716e-10, -1.4626717892429753e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5399287939071655, 0.4565926790237427, 0.4565926790237427, -0.5399287939071655]}, "link_3": {"xyz": [0.06384841352701187, 2.5002285838127136e-05, 0.37433308362960815], "quat_xyzw": [-0.03336542099714279, 0.7063191533088684, -0.7063191533088684, -0.03336537256836891]}, "link_4": {"xyz": [0.31341344118118286, 2.5017186999320984e-05, 0.41097062826156616], "quat_xyzw": [-0.4962501525878906, 0.5037219524383545, -0.5037219524383545, -0.49625009298324585]}, "link_5": {"xyz": [0.3540148437023163, 2.7939677238464355e-08, 0.33756914734840393], "quat_xyzw": [0.5037187933921814, 0.5037252306938171, -0.49624696373939514, -0.49625328183174133]}, "link_6": {"xyz": [0.3150467872619629, 4.66563506051898e-07, 0.30168280005455017], "quat_xyzw": [0.7070871591567993, 0.707086980342865, 0.0052879429422318935, 0.005278920754790306]}, "link_left_finger": {"xyz": [0.35514646768569946, 0.000501483678817749, 0.24177533388137817], "quat_xyzw": [0.49624696373939514, 0.5037187337875366, 0.5037252306938171, -0.49625322222709656]}, "link_right_finger": {"xyz": [0.2767552435398102, -0.0004982687532901764, 0.2406037449836731], "quat_xyzw": [0.49624696373939514, 0.5037187337875366, 0.5037252306938171, -0.49625322222709656]}}}, {"t": 3.562, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [5.119149548704627e-10, 1.7383157014846802, 1.6363145112991333, -1.454142451286316, -1.2728703950415365e-05, 1.5334418890233792e-07, 0.03750016912817955, -0.037499554455280304], "target": [-1.0710732994967387e-10, 1.736155390739441, 1.6387463808059692, -1.4540537595748901, -1.9607289403200667e-10, -1.4413518989453422e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5400779843330383, 0.45641618967056274, 0.45641621947288513, -0.5400779247283936]}, "link_3": {"xyz": [0.06401856988668442, 2.5017186999320984e-05, 0.37430432438850403], "quat_xyzw": [-0.036047209054231644, 0.70618736743927, -0.70618736743927, -0.03604720160365105]}, "link_4": {"xyz": [0.3138546049594879, 2.5017186999320984e-05, 0.4090455174446106], "quat_xyzw": [-0.49632343649864197, 0.5036497712135315, -0.5036497712135315, -0.49632343649864197]}, "link_5": {"xyz": [0.35443463921546936, 2.0489096641540527e-08, 0.33563220500946045], "quat_xyzw": [0.5036465525627136, 0.5036529302597046, -0.49632027745246887, -0.4963265657424927]}, "link_6": {"xyz": [0.3154561221599579, 4.7680805437266827e-07, 0.2997572422027588], "quat_xyzw": [0.7070878148078918, 0.7070878148078918, 0.005184960551559925, 0.0051760124042630196]}, "link_left_finger": {"xyz": [0.35553836822509766, 0.0005014203488826752, 0.23983809351921082], "quat_xyzw": [0.4963202476501465, 0.5036465525627136, 0.5036528706550598, -0.4963265657424927]}, "link_right_finger": {"xyz": [0.2771467864513397, -0.0004983171820640564, 0.2386893332004547], "quat_xyzw": [0.4963202476501465, 0.5036465525627136, 0.5036528706550598, -0.4963265657424927]}}}, {"t": 3.582, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.4284037891675325e-08, 1.7389827966690063, 1.6292213201522827, -1.4466774463653564, -1.2750737369060516e-05, 2.65959215539624e-07, 0.03750009462237358, -0.03749959170818329], "target": [-1.0548808354604589e-10, 1.7368190288543701, 1.631656289100647, -1.4465923309326172, -1.9310865406740874e-10, -1.4195615516410243e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5402302145957947, 0.4562360346317291, 0.4562360644340515, -0.5402302145957947]}, "link_3": {"xyz": [0.06419219821691513, 2.5002285838127136e-05, 0.37427493929862976], "quat_xyzw": [-0.03878709673881531, 0.7060422301292419, -0.7060421705245972, -0.038787052035331726]}, "link_4": {"xyz": [0.3142903745174408, 2.5017186999320984e-05, 0.40707626938819885], "quat_xyzw": [-0.49639785289764404, 0.5035764575004578, -0.5035764575004578, -0.4963977634906769]}, "link_5": {"xyz": [0.3548487424850464, 2.7939677238464355e-08, 0.33365097641944885], "quat_xyzw": [0.5035732388496399, 0.5035796761512756, -0.49639463424682617, -0.49640095233917236]}, "link_6": {"xyz": [0.3158596158027649, 4.745088517665863e-07, 0.29778751730918884], "quat_xyzw": [0.7070887088775635, 0.7070885300636292, 0.005080581177026033, 0.005071571096777916]}, "link_left_finger": {"xyz": [0.35592415928840637, 0.0005013346672058105, 0.23785653710365295], "quat_xyzw": [0.49639469385147095, 0.5035732388496399, 0.5035797357559204, -0.49640092253685]}, "link_right_finger": {"xyz": [0.2775322496891022, -0.0004983283579349518, 0.2367309033870697], "quat_xyzw": [0.49639469385147095, 0.5035732388496399, 0.5035797357559204, -0.49640092253685]}}}, {"t": 3.602, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [9.742062445639021e-08, 1.7396641969680786, 1.6219815015792847, -1.4390578269958496, -1.3193912309361622e-05, 4.3459661469569255e-07, 0.037500057369470596, -0.03749961778521538], "target": [-1.038354541238462e-10, 1.737496256828308, 1.624419927597046, -1.4389771223068237, -1.900833240808808e-10, -1.3973219803453674e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5403856039047241, 0.4560520350933075, 0.45605194568634033, -0.5403856635093689]}, "link_3": {"xyz": [0.06436952203512192, 2.5020912289619446e-05, 0.3742447793483734], "quat_xyzw": [-0.041583191603422165, 0.7058830261230469, -0.7058830261230469, -0.04158301651477814]}, "link_4": {"xyz": [0.31471961736679077, 2.508796751499176e-05, 0.40506404638290405], "quat_xyzw": [-0.4964738190174103, 0.5035015344619751, -0.5035017132759094, -0.4964736998081207]}, "link_5": {"xyz": [0.3552558422088623, 9.872019290924072e-08, 0.3316265344619751], "quat_xyzw": [0.5034981966018677, 0.5035049915313721, -0.49647057056427, -0.4964769184589386]}, "link_6": {"xyz": [0.3162558972835541, 5.493347998708487e-07, 0.29577481746673584], "quat_xyzw": [0.707089364528656, 0.707089364528656, 0.004974097013473511, 0.0049648042768239975]}, "link_left_finger": {"xyz": [0.3563023507595062, 0.0005014091730117798, 0.23583176732063293], "quat_xyzw": [0.49647045135498047, 0.5034983158111572, 0.5035048723220825, -0.49647700786590576]}, "link_right_finger": {"xyz": [0.27791011333465576, -0.0004982799291610718, 0.23472978174686432], "quat_xyzw": [0.49647045135498047, 0.5034983158111572, 0.5035048723220825, -0.49647700786590576]}}}, {"t": 3.622, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.0347870588466321e-07, 1.7403587102890015, 1.6146024465560913, -1.4312926530838013, -1.342099130852148e-05, 3.263003804931941e-07, 0.03750009462237358, -0.03749958425760269], "target": [-1.0215104456756663e-10, 1.7381865978240967, 1.6170445680618286, -1.4312154054641724, -1.869998045300747e-10, -1.3746546956294736e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5405439734458923, 0.4558643400669098, 0.455864280462265, -0.5405440330505371]}, "link_3": {"xyz": [0.0645502433180809, 2.5006011128425598e-05, 0.37421393394470215], "quat_xyzw": [-0.04443236440420151, 0.7057094573974609, -0.7057094573974609, -0.04443219676613808]}, "link_4": {"xyz": [0.31514105200767517, 2.5073066353797913e-05, 0.4030109643936157], "quat_xyzw": [-0.49655142426490784, 0.5034249424934387, -0.5034250617027283, -0.4965513050556183]}, "link_5": {"xyz": [0.35565459728240967, 8.381903171539307e-08, 0.3295609652996063], "quat_xyzw": [0.5034216046333313, 0.5034284591674805, -0.4965481162071228, -0.4965546429157257]}, "link_6": {"xyz": [0.3166435956954956, 5.427573341876268e-07, 0.2937212884426117], "quat_xyzw": [0.7070901393890381, 0.7070901393890381, 0.00486512528732419, 0.00485566072165966]}, "link_left_finger": {"xyz": [0.3566715717315674, 0.0005014464259147644, 0.2337658703327179], "quat_xyzw": [0.496548056602478, 0.5034216642379761, 0.5034283995628357, -0.49655473232269287]}, "link_right_finger": {"xyz": [0.27827897667884827, -0.0004982277750968933, 0.2326880693435669], "quat_xyzw": [0.496548056602478, 0.5034216642379761, 0.5034283995628357, -0.49655473232269287]}}}, {"t": 3.642, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.024570591174779e-07, 1.7410662174224854, 1.6070903539657593, -1.423387885093689, -1.3568129361374304e-05, 3.572958746644872e-07, 0.037500180304050446, -0.0374995656311512], "target": [-1.0043643000612335e-10, 1.738889217376709, 1.60953688621521, -1.4233145713806152, -1.8386100975043007e-10, -1.351581069286567e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5407050848007202, 0.45567306876182556, 0.4556729793548584, -0.5407052040100098]}, "link_3": {"xyz": [0.06473437696695328, 2.5006011128425598e-05, 0.3741822838783264], "quat_xyzw": [-0.04733230546116829, 0.7055208683013916, -0.7055208683013916, -0.047332100570201874]}, "link_4": {"xyz": [0.3155534267425537, 2.508796751499176e-05, 0.4009186327457428], "quat_xyzw": [-0.4966307282447815, 0.5033468008041382, -0.5033469200134277, -0.49663054943084717]}, "link_5": {"xyz": [0.35604384541511536, 1.0617077350616455e-07, 0.32745587825775146], "quat_xyzw": [0.5033433437347412, 0.5033503770828247, -0.4966273307800293, -0.49663394689559937]}, "link_6": {"xyz": [0.31702154874801636, 5.726178642362356e-07, 0.29162847995758057], "quat_xyzw": [0.7070908546447754, 0.7070908546447754, 0.004753919783979654, 0.004744263365864754]}, "link_left_finger": {"xyz": [0.3570306599140167, 0.000501580536365509, 0.23166050016880035], "quat_xyzw": [0.49662718176841736, 0.503343403339386, 0.5033502578735352, -0.49663400650024414]}, "link_right_finger": {"xyz": [0.27863773703575134, -0.0004981681704521179, 0.23060739040374756], "quat_xyzw": [0.49662718176841736, 0.503343403339386, 0.5033502578735352, -0.49663400650024414]}}}, {"t": 3.662, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [7.910811916644889e-08, 1.7417848110198975, 1.599453091621399, -1.4153528213500977, -1.3249792573333252e-05, 4.94528649142012e-07, 0.037500280886888504, -0.037499528378248215], "target": [-9.869321332400816e-11, 1.7396036386489868, 1.6019039154052734, -1.415281891822815, -1.8066984019959875e-10, -1.3281224731098717e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.540868878364563, 0.455478698015213, 0.455478698015213, -0.540868878364563]}, "link_3": {"xyz": [0.06492135673761368, 2.5002285838127136e-05, 0.3741500675678253], "quat_xyzw": [-0.05027947574853897, 0.7053169012069702, -0.705316960811615, -0.050279416143894196]}, "link_4": {"xyz": [0.3159550130367279, 2.5024637579917908e-05, 0.398789644241333], "quat_xyzw": [-0.4967113733291626, 0.5032671093940735, -0.5032671689987183, -0.4967113733291626]}, "link_5": {"xyz": [0.3564218580722809, 2.7939677238464355e-08, 0.32531389594078064], "quat_xyzw": [0.5032638311386108, 0.5032705068588257, -0.49670809507369995, -0.49671465158462524]}, "link_6": {"xyz": [0.3173880875110626, 4.906614776700735e-07, 0.28949904441833496], "quat_xyzw": [0.707091748714447, 0.7070914506912231, 0.004640336148440838, 0.004630967974662781]}, "link_left_finger": {"xyz": [0.35737794637680054, 0.0005015581846237183, 0.22951823472976685], "quat_xyzw": [0.4967081844806671, 0.5032637715339661, 0.5032706260681152, -0.49671459197998047]}, "link_right_finger": {"xyz": [0.2789846956729889, -0.0004982128739356995, 0.22849024832248688], "quat_xyzw": [0.4967081844806671, 0.5032637715339661, 0.5032706260681152, -0.49671459197998047]}}}, {"t": 3.682, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [4.9690061842966315e-08, 1.7425144910812378, 1.5916979312896729, -1.407192587852478, -1.3112635315337684e-05, 5.079916718386812e-07, 0.03750031813979149, -0.037499528378248215], "target": [-9.692297658903115e-11, 1.7403290271759033, 1.5941526889801025, -1.4071247577667236, -1.7742921021302038e-10, -1.3043002788926117e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.541034996509552, 0.4552813768386841, 0.4552813768386841, -0.541034996509552]}, "link_3": {"xyz": [0.06511112302541733, 2.5002285838127136e-05, 0.37411725521087646], "quat_xyzw": [-0.05327119678258896, 0.7050972580909729, -0.7050973176956177, -0.053271159529685974]}, "link_4": {"xyz": [0.3163447976112366, 2.5024637579917908e-05, 0.3966260552406311], "quat_xyzw": [-0.4967930316925049, 0.5031865239143372, -0.5031865835189819, -0.4967930316925049]}, "link_5": {"xyz": [0.3567878007888794, 2.7939677238464355e-08, 0.32313716411590576], "quat_xyzw": [0.5031832456588745, 0.5031898617744446, -0.496789813041687, -0.49679625034332275]}, "link_6": {"xyz": [0.31774240732192993, 4.881585482507944e-07, 0.28733497858047485], "quat_xyzw": [0.7070925235748291, 0.7070922255516052, 0.004525527358055115, 0.004516288638114929]}, "link_left_finger": {"xyz": [0.3577128052711487, 0.0005015917122364044, 0.2273411601781845], "quat_xyzw": [0.4967898726463318, 0.5031831860542297, 0.5031899213790894, -0.496796190738678]}, "link_right_finger": {"xyz": [0.27931922674179077, -0.0004982426762580872, 0.22633862495422363], "quat_xyzw": [0.4967898726463318, 0.5031831860542297, 0.5031899213790894, -0.496796190738678]}}}, {"t": 3.702, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-2.4300496193063736e-07, 1.7432548999786377, 1.5838322639465332, -1.3989133834838867, -1.2149040230724495e-05, 3.2654477877258614e-07, 0.03750030696392059, -0.03749958053231239], "target": [-9.512731574679023e-11, 1.7410649061203003, 1.5862901210784912, -1.398850440979004, -1.741420341261346e-10, -1.280135858428011e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5412035584449768, 0.455081045627594, 0.45508113503456116, -0.541203498840332]}, "link_3": {"xyz": [0.06530367583036423, 2.4985522031784058e-05, 0.3740837872028351], "quat_xyzw": [-0.056304704397916794, 0.704861581325531, -0.704861581325531, -0.056304726749658585]}, "link_4": {"xyz": [0.3167218267917633, 2.4985522031784058e-05, 0.39442965388298035], "quat_xyzw": [-0.49687522649765015, 0.5031054019927979, -0.5031054019927979, -0.49687525629997253]}, "link_5": {"xyz": [0.35714080929756165, -1.862645149230957e-08, 0.32092756032943726], "quat_xyzw": [0.5031023621559143, 0.5031084418296814, -0.496872216463089, -0.4968782663345337]}, "link_6": {"xyz": [0.3180837333202362, 3.9933365769684315e-07, 0.2851381301879883], "quat_xyzw": [0.7070931792259216, 0.7070930004119873, 0.004409688524901867, 0.004401099402457476]}, "link_left_finger": {"xyz": [0.35803452134132385, 0.0005014389753341675, 0.22513124346733093], "quat_xyzw": [0.4968722462654114, 0.5031023025512695, 0.5031085014343262, -0.49687817692756653]}, "link_right_finger": {"xyz": [0.2796406149864197, -0.0004984438419342041, 0.22415433824062347], "quat_xyzw": [0.4968722462654114, 0.5031023025512695, 0.5031085014343262, -0.49687817692756653]}}}, {"t": 3.722, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [-1.444096255909244e-07, 1.7440046072006226, 1.5758628845214844, -1.3905233144760132, -1.2325720490480307e-05, 2.6034715716605206e-08, 0.03750024363398552, -0.037499718368053436], "target": [-9.330781286509549e-11, 1.7418105602264404, 1.5783231258392334, -1.390466332435608, -1.7081121239659325e-10, -1.2556507222871716e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5413740873336792, 0.4548780620098114, 0.45487815141677856, -0.5413740277290344]}, "link_3": {"xyz": [0.0654987171292305, 2.4985522031784058e-05, 0.37404969334602356], "quat_xyzw": [-0.05937708169221878, 0.7046093940734863, -0.7046093940734863, -0.05937710776925087]}, "link_4": {"xyz": [0.3170846700668335, 2.4985522031784058e-05, 0.39220261573791504], "quat_xyzw": [-0.49695801734924316, 0.5030235648155212, -0.5030235648155212, -0.49695804715156555]}, "link_5": {"xyz": [0.357479453086853, -1.862645149230957e-08, 0.31868723034858704], "quat_xyzw": [0.5030204653739929, 0.5030266642570496, -0.4969549775123596, -0.4969611167907715]}, "link_6": {"xyz": [0.31841060519218445, 4.158646333962679e-07, 0.28291067481040955], "quat_xyzw": [0.7070937752723694, 0.7070937752723694, 0.004293337464332581, 0.004284598398953676]}, "link_left_finger": {"xyz": [0.35834163427352905, 0.0005014091730117798, 0.2228906750679016], "quat_xyzw": [0.4969549775123596, 0.5030205249786377, 0.5030266642570496, -0.49696117639541626]}, "link_right_finger": {"xyz": [0.2799474000930786, -0.0004985518753528595, 0.2219395637512207], "quat_xyzw": [0.4969549775123596, 0.5030205249786377, 0.5030266642570496, -0.49696117639541626]}}}, {"t": 3.742, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [4.670803548378899e-07, 1.7447624206542969, 1.567795991897583, -1.382033348083496, -1.3996405868965667e-05, -4.6415372878527705e-08, 0.03750024363398552, -0.0374998040497303], "target": [-9.146605695065091e-11, 1.742565393447876, 1.5702587366104126, -1.3819795846939087, -1.6743964548204815e-10, -1.2308659647075615e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.5415462851524353, 0.4546731412410736, 0.4546728730201721, -0.5415465235710144]}, "link_3": {"xyz": [0.06569571048021317, 2.5043264031410217e-05, 0.374015212059021], "quat_xyzw": [-0.06248567998409271, 0.7043405175209045, -0.7043405771255493, -0.062485259026288986]}, "link_4": {"xyz": [0.3174320459365845, 2.5199726223945618e-05, 0.3899473249912262], "quat_xyzw": [-0.49704232811927795, 0.50294029712677, -0.5029405951499939, -0.4970420300960541]}, "link_5": {"xyz": [0.35780224204063416, 2.253800630569458e-07, 0.3164184093475342], "quat_xyzw": [0.5029367804527283, 0.5029441118240356, -0.497038871049881, -0.49704551696777344]}, "link_6": {"xyz": [0.31872138381004333, 6.829213816672564e-07, 0.2806549072265625], "quat_xyzw": [0.7070942521095276, 0.7070947289466858, 0.004175644367933273, 0.004165759775787592]}, "link_left_finger": {"xyz": [0.358632355928421, 0.0005018152296543121, 0.22062154114246368], "quat_xyzw": [0.49703848361968994, 0.5029370784759521, 0.502943754196167, -0.4970458149909973]}, "link_right_finger": {"xyz": [0.2802377939224243, -0.0004983097314834595, 0.21969667077064514], "quat_xyzw": [0.49703848361968994, 0.5029370784759521, 0.502943754196167, -0.4970458149909973]}}}, {"t": 3.762, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [4.567048961234832e-07, 1.7455288171768188, 1.5596387386322021, -1.3734490871429443, -1.4218843716662377e-05, 1.0938789785086556e-07, 0.03750026598572731, -0.03749987110495567], "target": [-8.96036370101605e-11, 1.74332857131958, 1.5621039867401123, -1.373397707939148, -1.6403027547351456e-10, -1.205803373816039e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.541720449924469, 0.4544655680656433, 0.4544652998447418, -0.5417206883430481]}, "link_3": {"xyz": [0.06589499861001968, 2.502836287021637e-05, 0.3739800751209259], "quat_xyzw": [-0.06562769412994385, 0.7040547132492065, -0.7040547132492065, -0.06562727689743042]}, "link_4": {"xyz": [0.31776347756385803, 2.5177374482154846e-05, 0.38766518235206604], "quat_xyzw": [-0.4971276819705963, 0.5028559565544128, -0.5028561949729919, -0.49712735414505005]}, "link_5": {"xyz": [0.3581086993217468, 2.1047890186309814e-07, 0.31412258744239807], "quat_xyzw": [0.5028523802757263, 0.5028598308563232, -0.4971241056919098, -0.49713096022605896]}, "link_6": {"xyz": [0.3190157115459442, 6.890913937240839e-07, 0.2783723473548889], "quat_xyzw": [0.7070950865745544, 0.7070953845977783, 0.004055756609886885, 0.004045640584081411]}, "link_left_finger": {"xyz": [0.3589062988758087, 0.0005018524825572968, 0.2183254063129425], "quat_xyzw": [0.4971238374710083, 0.5028526186943054, 0.5028595328330994, -0.49713122844696045]}, "link_right_finger": {"xyz": [0.28051143884658813, -0.0004983469843864441, 0.21742716431617737], "quat_xyzw": [0.4971238374710083, 0.5028526186943054, 0.5028595328330994, -0.49713122844696045]}}}, {"t": 3.782, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [5.105088689560944e-07, 1.7463037967681885, 1.5513969659805298, -1.3647762537002563, -1.4458652003668249e-05, 3.0321365329655237e-07, 0.037500303238630295, -0.03749988600611687], "target": [-8.772214898922215e-11, 1.7440996170043945, 1.5538655519485474, -1.3647278547286987, -1.6058598895085652e-10, -1.180484043850072e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.5418965220451355, 0.4542556405067444, 0.4542553424835205, -0.5418967604637146]}, "link_3": {"xyz": [0.0660964623093605, 2.502836287021637e-05, 0.3739444315433502], "quat_xyzw": [-0.06880113482475281, 0.7037516832351685, -0.7037516832351685, -0.06880071014165878]}, "link_4": {"xyz": [0.31807804107666016, 2.518482506275177e-05, 0.38535797595977783], "quat_xyzw": [-0.497214138507843, 0.5027704238891602, -0.502770721912384, -0.49721381068229675]}, "link_5": {"xyz": [0.3583979606628418, 2.0302832126617432e-07, 0.3118015229701996], "quat_xyzw": [0.5027667880058289, 0.5027743577957153, -0.4972105324268341, -0.49721744656562805]}, "link_6": {"xyz": [0.31929269433021545, 6.908958312124014e-07, 0.27606475353240967], "quat_xyzw": [0.7070958018302917, 0.7070960402488708, 0.003934228327125311, 0.003923964221030474]}, "link_left_finger": {"xyz": [0.3591625690460205, 0.0005018934607505798, 0.21600408852100372], "quat_xyzw": [0.497210294008255, 0.502767026424408, 0.5027741193771362, -0.49721771478652954]}, "link_right_finger": {"xyz": [0.28076744079589844, -0.0004983395338058472, 0.21513280272483826], "quat_xyzw": [0.497210294008255, 0.502767026424408, 0.5027741193771362, -0.49721771478652954]}}}, {"t": 3.802, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.748305689692643e-07, 1.7470861673355103, 1.5430785417556763, -1.3560223579406738, -1.3837288861395791e-05, 5.048545972385909e-07, 0.037500347942113876, -0.037499863654375076], "target": [-8.582318189453986e-11, 1.744877815246582, 1.5455507040023804, -1.3559775352478027, -1.5710968637172584e-10, -1.1549294159918233e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5420742034912109, 0.45404350757598877, 0.45404332876205444, -0.5420743823051453]}, "link_3": {"xyz": [0.06629987806081772, 2.5024637579917908e-05, 0.37390825152397156], "quat_xyzw": [-0.07200276851654053, 0.7034313082695007, -0.7034313082695007, -0.07200247049331665]}, "link_4": {"xyz": [0.3183749318122864, 2.5121495127677917e-05, 0.3830280900001526], "quat_xyzw": [-0.497301310300827, 0.5026842355728149, -0.5026844143867493, -0.4973010718822479]}, "link_5": {"xyz": [0.35866934061050415, 1.471489667892456e-07, 0.3094576299190521], "quat_xyzw": [0.502680778503418, 0.5026879906654358, -0.49729785323143005, -0.4973045587539673]}, "link_6": {"xyz": [0.3195516765117645, 6.141053745523095e-07, 0.2737343907356262], "quat_xyzw": [0.7070965766906738, 0.707096517086029, 0.003811412723734975, 0.0038015739992260933]}, "link_left_finger": {"xyz": [0.35940077900886536, 0.0005017966032028198, 0.21365994215011597], "quat_xyzw": [0.4972977340221405, 0.5026808977127075, 0.5026878714561462, -0.49730464816093445]}, "link_right_finger": {"xyz": [0.281005322933197, -0.0004983991384506226, 0.21281583607196808], "quat_xyzw": [0.4972977340221405, 0.5026808977127075, 0.5026878714561462, -0.49730464816093445]}}}, {"t": 3.822, "phase": "descend", "bottle_xyz": [0.2800000011920929, 6.090091625443605e-11, 0.04917370527982712], "bottle_quat_xyzw": [-6.189804224732143e-10, 5.224717533613976e-11, 1.4135646474526837e-17, 1.0], "bottom_z": -0.0002677547413222764, "q": [2.2873756222452357e-07, 1.7478746175765991, 1.5346909761428833, -1.3471949100494385, -1.3631827641802374e-05, 4.2918429699057015e-07, 0.03750031813979149, -0.03749993070960045], "target": [-8.390831779392371e-11, 1.7456625699996948, 1.5371661186218262, -1.347153902053833, -1.5360429594935e-10, -1.1291609314234563e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7841072082519531], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5422532558441162, 0.4538297653198242, 0.45382967591285706, -0.542253315448761]}, "link_3": {"xyz": [0.06650473922491074, 2.5020912289619446e-05, 0.37387171387672424], "quat_xyzw": [-0.07522927224636078, 0.7030935287475586, -0.7030935883522034, -0.07522912323474884]}, "link_4": {"xyz": [0.318652868270874, 2.5080516934394836e-05, 0.3806781470775604], "quat_xyzw": [-0.4973888695240021, 0.5025975704193115, -0.5025977492332458, -0.4973887801170349]}, "link_5": {"xyz": [0.3589216470718384, 9.12696123123169e-08, 0.30709365010261536], "quat_xyzw": [0.5025941729545593, 0.5026010870933533, -0.49738553166389465, -0.49739211797714233]}, "link_6": {"xyz": [0.3197915256023407, 5.541369318962097e-07, 0.271384060382843], "quat_xyzw": [0.7070972323417664, 0.7070971727371216, 0.0036879603285342455, 0.003678405424579978]}, "link_left_finger": {"xyz": [0.359619677066803, 0.0005016997456550598, 0.2112957239151001], "quat_xyzw": [0.4973854422569275, 0.5025942325592041, 0.5026010274887085, -0.4973921477794647]}, "link_right_finger": {"xyz": [0.28122392296791077, -0.0004985593259334564, 0.21047896146774292], "quat_xyzw": [0.4973854422569275, 0.5025942325592041, 0.5026010274887085, -0.4973921477794647]}}}, {"t": 3.8419999999999996, "phase": "descend", "bottle_xyz": [0.2800000011920929, 5.833866029147927e-11, 0.04917339235544205], "bottle_quat_xyzw": [-5.900241961676045e-10, 1.066950278127976e-10, 1.1830907875356063e-17, 1.0], "bottom_z": -0.00026806766497122075, "q": [4.28628140980436e-07, 1.7486681938171387, 1.5262420177459717, -1.3383015394210815, -1.4330244084703736e-05, 1.7042714262061054e-07, 0.03750032186508179, -0.03749992325901985], "target": [-8.197915263297162e-11, 1.7464531660079956, 1.5287190675735474, -1.3382644653320312, -1.500727320191686e-10, -1.1031999619381949e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -2.244839647502772e-09, 0.7850583791732788], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.5424332022666931, 0.4536146819591522, 0.45361441373825073, -0.5424334406852722]}, "link_3": {"xyz": [0.0667109414935112, 2.5043264031410217e-05, 0.3738347589969635], "quat_xyzw": [-0.07847777009010315, 0.7027384042739868, -0.7027384638786316, -0.07847735285758972]}, "link_4": {"xyz": [0.31891119480133057, 2.5199726223945618e-05, 0.3783104419708252], "quat_xyzw": [-0.4974766969680786, 0.502510666847229, -0.5025109052658081, -0.4974764287471771]}, "link_5": {"xyz": [0.35915425419807434, 2.1792948246002197e-07, 0.30471187829971313], "quat_xyzw": [0.5025070309638977, 0.5025145411491394, -0.4974731206893921, -0.49748000502586365]}, "link_6": {"xyz": [0.3200116753578186, 7.019843906164169e-07, 0.26901596784591675], "quat_xyzw": [0.7070977091789246, 0.7070980072021484, 0.003564818063750863, 0.003554649418219924]}, "link_left_finger": {"xyz": [0.35981881618499756, 0.0005019232630729675, 0.20891369879245758], "quat_xyzw": [0.4974728524684906, 0.5025072693824768, 0.5025142431259155, -0.49748024344444275]}, "link_right_finger": {"xyz": [0.28142279386520386, -0.0004983767867088318, 0.2081243097782135], "quat_xyzw": [0.4974728524684906, 0.5025072693824768, 0.5025142431259155, -0.49748024344444275]}}}, {"t": 3.8619999999999997, "phase": "descend", "bottle_xyz": [0.2800000011920929, 5.533020569492564e-11, 0.049173492938280106], "bottle_quat_xyzw": [-5.628641441823845e-10, 1.2421215445090894e-10, 7.548210032364815e-18, 1.0], "bottom_z": -0.0002679670813424892, "q": [-2.85930894960984e-07, 1.7494664192199707, 1.517737627029419, -1.329350233078003, -1.2405205779941753e-05, 2.7064234586759994e-07, 0.0375002920627594, -0.03749991953372955], "target": [-8.003726847949366e-11, 1.7472490072250366, 1.5202162265777588, -1.3293163776397705, -1.465178811610457e-10, -1.0770679487182022e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7847514152526855], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5426143407821655, 0.4533978998661041, 0.45339804887771606, -0.5426141619682312]}, "link_3": {"xyz": [0.06691838055849075, 2.4996697902679443e-05, 0.37379732728004456], "quat_xyzw": [-0.08174524456262589, 0.7023658156394958, -0.7023658156394958, -0.08174541592597961]}, "link_4": {"xyz": [0.319149374961853, 2.4937093257904053e-05, 0.37592676281929016], "quat_xyzw": [-0.49756476283073425, 0.5024234652519226, -0.5024234056472778, -0.4975649118423462]}, "link_5": {"xyz": [0.35936659574508667, -7.450580596923828e-08, 0.30231407284736633], "quat_xyzw": [0.5024203658103943, 0.5024264454841614, -0.4975617229938507, -0.49756795167922974]}, "link_6": {"xyz": [0.3202114701271057, 3.5419361665844917e-07, 0.2666319012641907], "quat_xyzw": [0.7070986032485962, 0.7070983052253723, 0.003439868101850152, 0.0034311700146645308]}, "link_left_finger": {"xyz": [0.3599974811077118, 0.0005013905465602875, 0.20651566982269287], "quat_xyzw": [0.49756184220314026, 0.50242018699646, 0.5024265646934509, -0.4975677728652954]}, "link_right_finger": {"xyz": [0.2816011905670166, -0.0004988014698028564, 0.20575383305549622], "quat_xyzw": [0.49756184220314026, 0.50242018699646, 0.5024265646934509, -0.4975677728652954]}}}, {"t": 3.8819999999999997, "phase": "descend", "bottle_xyz": [0.2800000011920929, 5.21667084529831e-11, 0.04917348548769951], "bottle_quat_xyzw": [-5.314078066476213e-10, 1.0730726723862105e-10, 6.193012324268669e-18, 1.0], "bottom_z": -0.0002679745307602732, "q": [-5.741677568948944e-07, 1.7502691745758057, 1.5091845989227295, -1.320347785949707, -1.1558277037693188e-05, 4.786010663337947e-07, 0.03750014305114746, -0.03750009834766388], "target": [-7.808426127908774e-11, 1.7480493783950806, 1.511664628982544, -1.320317029953003, -1.4294265771042092e-10, -1.0507861247788242e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7847757935523987], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071066498756409, 0.7071070075035095]}, "link_2": {"xyz": [0.020000001415610313, 2.499297261238098e-05, 0.11400000005960464], "quat_xyzw": [0.5427963137626648, 0.45318007469177246, 0.45318034291267395, -0.5427961349487305]}, "link_3": {"xyz": [0.06712684780359268, 2.4963170289993286e-05, 0.3737596273422241], "quat_xyzw": [-0.08502983301877975, 0.7019757628440857, -0.7019757032394409, -0.08503009378910065]}, "link_4": {"xyz": [0.3193667232990265, 2.48737633228302e-05, 0.37352922558784485], "quat_xyzw": [-0.49765339493751526, 0.5023356676101685, -0.5023354291915894, -0.497653603553772]}, "link_5": {"xyz": [0.3595579266548157, -1.4528632164001465e-07, 0.2999023497104645], "quat_xyzw": [0.5023327469825745, 0.5023383498191833, -0.49765050411224365, -0.4976564645767212]}, "link_6": {"xyz": [0.3203901946544647, 2.7316855266690254e-07, 0.2642340362071991], "quat_xyzw": [0.7070993185043335, 0.7070987820625305, 0.003314818488433957, 0.0033066291362047195]}, "link_left_finger": {"xyz": [0.36015498638153076, 0.0005010925233364105, 0.2041037380695343], "quat_xyzw": [0.49765077233314514, 0.5023324489593506, 0.5023386478424072, -0.4976561665534973]}, "link_right_finger": {"xyz": [0.2817584276199341, -0.0004990994930267334, 0.20336958765983582], "quat_xyzw": [0.49765077233314514, 0.5023324489593506, 0.5023386478424072, -0.4976561665534973]}}}, {"t": 3.9019999999999997, "phase": "descend", "bottle_xyz": [0.2800000011920929, 4.575653050897799e-11, 0.049173470586538315], "bottle_quat_xyzw": [-4.625304306227207e-10, 8.586991534498267e-11, 3.5046137085156936e-18, 1.0], "bottom_z": -0.00026798942947882376, "q": [-4.4028919887750817e-07, 1.7510747909545898, 1.5005905628204346, -1.3113027811050415, -1.1646089660644066e-05, 4.0553467783865926e-07, 0.037499941885471344, -0.037500277161598206], "target": [-7.612172003845785e-11, 1.7488535642623901, 1.5030714273452759, -1.3112736940383911, -1.3934998988052172e-10, -1.0243760700801019e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848176956176758], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071066498756409, 0.7071070075035095]}, "link_2": {"xyz": [0.020000001415610313, 2.499297261238098e-05, 0.11400000005960464], "quat_xyzw": [0.542978823184967, 0.45296135544776917, 0.45296162366867065, -0.5429785847663879]}, "link_3": {"xyz": [0.06733614951372147, 2.4963170289993286e-05, 0.37372156977653503], "quat_xyzw": [-0.088328056037426, 0.7015683650970459, -0.7015683054924011, -0.08832836896181107]}, "link_4": {"xyz": [0.3195626735687256, 2.485141158103943e-05, 0.3711202144622803], "quat_xyzw": [-0.49774253368377686, 0.5022473931312561, -0.502247154712677, -0.49774274230003357]}, "link_5": {"xyz": [0.35972777009010315, -1.601874828338623e-07, 0.2974790632724762], "quat_xyzw": [0.5022444725036621, 0.5022501349449158, -0.49773961305618286, -0.49774566292762756]}, "link_6": {"xyz": [0.3205473721027374, 2.548476913943887e-07, 0.2618246078491211], "quat_xyzw": [0.7070999145507812, 0.7070993781089783, 0.00318942591547966, 0.003181148087605834]}, "link_left_finger": {"xyz": [0.3602908253669739, 0.0005008876323699951, 0.2016802430152893], "quat_xyzw": [0.49773985147476196, 0.5022441744804382, 0.5022503733634949, -0.4977453351020813]}, "link_right_finger": {"xyz": [0.2818940281867981, -0.000499289482831955, 0.20097386837005615], "quat_xyzw": [0.49773985147476196, 0.5022441744804382, 0.5022503733634949, -0.4977453351020813]}}}, {"t": 3.9219999999999997, "phase": "descend", "bottle_xyz": [0.2800000011920929, 3.787015145917394e-11, 0.04917346313595772], "bottle_quat_xyzw": [-3.821025440498005e-10, 7.758117065437276e-11, 1.1763227957636975e-17, 1.0], "bottom_z": -0.0002679968773183772, "q": [-4.28475203761991e-07, 1.7518842220306396, 1.4919606447219849, -1.302221655845642, -1.15541279228637e-05, 3.721382597632328e-07, 0.03749968484044075, -0.03750046342611313], "target": [-7.415122682541408e-11, 1.7496610879898071, 1.4944432973861694, -1.3021937608718872, -1.3574277812899993e-10, -9.978590176373814e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071066498756409, 0.7071070075035095]}, "link_2": {"xyz": [0.020000001415610313, 2.499297261238098e-05, 0.11400000005960464], "quat_xyzw": [0.5431621074676514, 0.4527415633201599, 0.4527418315410614, -0.5431618690490723]}, "link_3": {"xyz": [0.06754636019468307, 2.4963170289993286e-05, 0.3736831247806549], "quat_xyzw": [-0.0916382446885109, 0.7011436820030212, -0.7011436223983765, -0.09163853526115417]}, "link_4": {"xyz": [0.31973710656166077, 2.4858862161636353e-05, 0.3687010705471039], "quat_xyzw": [-0.4978324770927429, 0.5021581649780273, -0.502157986164093, -0.49783265590667725]}, "link_5": {"xyz": [0.35987579822540283, -1.601874828338623e-07, 0.29504555463790894], "quat_xyzw": [0.5021553039550781, 0.5021608471870422, -0.4978296160697937, -0.49783551692962646]}, "link_6": {"xyz": [0.32068267464637756, 2.6174529921263456e-07, 0.2594051659107208], "quat_xyzw": [0.7071004509925842, 0.707099974155426, 0.0030626566149294376, 0.0030545582994818687]}, "link_left_finger": {"xyz": [0.3604045510292053, 0.0005006156861782074, 0.19924652576446533], "quat_xyzw": [0.4978298842906952, 0.502155065536499, 0.5021611452102661, -0.497835248708725]}, "link_right_finger": {"xyz": [0.28200751543045044, -0.0004994869232177734, 0.19856825470924377], "quat_xyzw": [0.4978298842906952, 0.502155065536499, 0.5021611452102661, -0.497835248708725]}}}, {"t": 3.9419999999999997, "phase": "descend", "bottle_xyz": [0.2800000011920929, 2.7573497304866912e-11, 0.04917346313595772], "bottle_quat_xyzw": [-3.0062147216014523e-10, 4.2930568822097115e-11, 2.4962421606331304e-17, 1.0], "bottom_z": -0.0002679968743725461, "q": [-3.010139266734768e-07, 1.752697229385376, 1.4833033084869385, -1.2931079864501953, -1.198221343656769e-05, 2.1421109863695165e-07, 0.037499453872442245, -0.03750061243772507], "target": [-7.217438452444824e-11, 1.7504712343215942, 1.4857873916625977, -1.2930846214294434, -1.3212390903571958e-10, -9.712564086328257e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5433460474014282, 0.4525207579135895, 0.4525209665298462, -0.5433459281921387]}, "link_3": {"xyz": [0.06775746494531631, 2.4966895580291748e-05, 0.3736444115638733], "quat_xyzw": [-0.09495729953050613, 0.700701892375946, -0.7007018327713013, -0.09495746344327927]}, "link_4": {"xyz": [0.31988975405693054, 2.4907290935516357e-05, 0.36627426743507385], "quat_xyzw": [-0.49792206287384033, 0.502069354057312, -0.5020692348480225, -0.4979221522808075]}, "link_5": {"xyz": [0.36000216007232666, -9.685754776000977e-08, 0.2926044464111328], "quat_xyzw": [0.5020663738250732, 0.502072274684906, -0.49791908264160156, -0.49792516231536865]}, "link_6": {"xyz": [0.32079631090164185, 3.3303513191640377e-07, 0.25697803497314453], "quat_xyzw": [0.7071008682250977, 0.7071006298065186, 0.002936757868155837, 0.00292828562669456]}, "link_left_finger": {"xyz": [0.36049675941467285, 0.0005005002021789551, 0.19680523872375488], "quat_xyzw": [0.4979192018508911, 0.5020662546157837, 0.5020723938941956, -0.4979250133037567]}, "link_right_finger": {"xyz": [0.28209948539733887, -0.0004995390772819519, 0.19615492224693298], "quat_xyzw": [0.4979192018508911, 0.5020662546157837, 0.5020723938941956, -0.4979250133037567]}}}, {"t": 3.9619999999999997, "phase": "descend", "bottle_xyz": [0.2800000011920929, 1.475046647325673e-11, 0.04917346313595772], "bottle_quat_xyzw": [-2.7533575419624867e-10, 7.751918031095872e-12, 3.31089694260639e-17, 1.0], "bottom_z": -0.00026799687341756, "q": [-1.7693928100470657e-07, 1.7535110712051392, 1.4746261835098267, -1.2839739322662354, -1.2271638297534082e-05, 6.21232629782753e-08, 0.03749925270676613, -0.037500686943531036], "target": [-7.019276826447651e-11, 1.7512832880020142, 1.4771106243133545, -1.2839534282684326, -1.2849632469169592e-10, -9.445896842485979e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5435301661491394, 0.45229968428611755, 0.4522998034954071, -0.5435300469398499]}, "link_3": {"xyz": [0.06796874850988388, 2.4985522031784058e-05, 0.37360548973083496], "quat_xyzw": [-0.09828143566846848, 0.7002434134483337, -0.700243353843689, -0.09828155487775803]}, "link_4": {"xyz": [0.32001978158950806, 2.494826912879944e-05, 0.3638427257537842], "quat_xyzw": [-0.4980117082595825, 0.5019804835319519, -0.5019803643226624, -0.4980117678642273]}, "link_5": {"xyz": [0.3601059019565582, -5.587935447692871e-08, 0.29015856981277466], "quat_xyzw": [0.5019773840904236, 0.5019834637641907, -0.4980086386203766, -0.4980148375034332]}, "link_6": {"xyz": [0.32088732719421387, 3.8050347939133644e-07, 0.2545461356639862], "quat_xyzw": [0.7071012854576111, 0.7071011662483215, 0.0028106316458433867, 0.0028019407764077187]}, "link_left_finger": {"xyz": [0.36056631803512573, 0.000500362366437912, 0.1943592131137848], "quat_xyzw": [0.49800872802734375, 0.5019773244857788, 0.5019835829734802, -0.49801477789878845]}, "link_right_finger": {"xyz": [0.28216877579689026, -0.0004995502531528473, 0.19373686611652374], "quat_xyzw": [0.49800872802734375, 0.5019773244857788, 0.5019835829734802, -0.49801477789878845]}}}, {"t": 3.9819999999999998, "phase": "descend", "bottle_xyz": [0.2800000011920929, 2.2545730473527703e-12, 0.04917346313595772], "bottle_quat_xyzw": [-1.4460217745426718e-10, -2.799821138821379e-11, 5.148840316756749e-17, 1.0], "bottom_z": -0.00026799686905742276, "q": [-3.295502324363042e-07, 1.7543264627456665, 1.4659346342086792, -1.2748255729675293, -1.204060208692681e-05, 1.64028847393638e-07, 0.03749909624457359, -0.037500735372304916], "target": [-6.820797399109679e-11, 1.7520966529846191, 1.4684199094772339, -1.2748075723648071, -1.2486292555458078e-10, -9.17880146888983e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -5.6091408850988955e-08, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5437145233154297, 0.4520779848098755, 0.4520781636238098, -0.5437143445014954]}, "link_3": {"xyz": [0.06818043440580368, 2.4981796741485596e-05, 0.37356624007225037], "quat_xyzw": [-0.10160885751247406, 0.6997682452201843, -0.6997682452201843, -0.10160906612873077]}, "link_4": {"xyz": [0.3201271891593933, 2.4907290935516357e-05, 0.36140769720077515], "quat_xyzw": [-0.4981015920639038, 0.5018911957740784, -0.5018910765647888, -0.49810177087783813]}, "link_5": {"xyz": [0.3601868748664856, -1.1175870895385742e-07, 0.28770917654037476], "quat_xyzw": [0.5018882155418396, 0.5018941164016724, -0.4980986416339874, -0.4981047809123993]}, "link_6": {"xyz": [0.3209555447101593, 3.161985659971833e-07, 0.2521108090877533], "quat_xyzw": [0.7071018815040588, 0.707101583480835, 0.0026838139165192842, 0.0026752909179776907]}, "link_left_finger": {"xyz": [0.3606129288673401, 0.0005001425743103027, 0.19190962612628937], "quat_xyzw": [0.498098760843277, 0.5018880367279053, 0.5018942356109619, -0.4981045722961426]}, "link_right_finger": {"xyz": [0.2822151780128479, -0.000499676913022995, 0.1913154125213623], "quat_xyzw": [0.498098760843277, 0.5018880367279053, 0.5018942356109619, -0.4981045722961426]}}}, {"t": 4.002, "phase": "descend", "bottle_xyz": [0.2800000011920929, -1.3473426367649477e-11, 0.04917346313595772], "bottle_quat_xyzw": [1.2745713338924158e-11, -6.397905816246663e-11, 7.160130968796171e-17, 1.0], "bottom_z": -0.00026799686626360203, "q": [4.563571565086022e-08, 1.7551422119140625, 1.4572359323501587, -1.2656711339950562, -1.2963175322511233e-05, 8.654101435467965e-08, 0.03749904781579971, -0.037500716745853424], "target": [-6.622159071101308e-11, 1.7529107332229614, 1.4597222805023193, -1.265654444694519, -1.21226612082026e-10, -8.911492377361441e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5438988208770752, 0.4518562853336334, 0.4518562853336334, -0.5438988208770752]}, "link_3": {"xyz": [0.06839215010404587, 2.5002285838127136e-05, 0.3735269010066986], "quat_xyzw": [-0.10493677109479904, 0.6992769837379456, -0.6992769837379456, -0.10493673384189606]}, "link_4": {"xyz": [0.32021188735961914, 2.5017186999320984e-05, 0.35897183418273926], "quat_xyzw": [-0.49819204211235046, 0.5018014311790466, -0.5018014907836914, -0.4981920123100281]}, "link_5": {"xyz": [0.3602450489997864, 1.30385160446167e-08, 0.2852588891983032], "quat_xyzw": [0.5017982125282288, 0.501804769039154, -0.498188853263855, -0.49819523096084595]}, "link_6": {"xyz": [0.3210009038448334, 4.6154309529811144e-07, 0.24967464804649353], "quat_xyzw": [0.7071021795272827, 0.7071022391319275, 0.0025568450801074505, 0.0025476934388279915]}, "link_left_finger": {"xyz": [0.3606366217136383, 0.0005003027617931366, 0.18945921957492828], "quat_xyzw": [0.4981887638568878, 0.5017982721328735, 0.5018047094345093, -0.49819526076316833]}, "link_right_finger": {"xyz": [0.2822386622428894, -0.000499475747346878, 0.18889321386814117], "quat_xyzw": [0.4981887638568878, 0.5017982721328735, 0.5018047094345093, -0.49819526076316833]}}}, {"t": 4.022, "phase": "descend", "bottle_xyz": [0.2800000011920929, -3.195539319267304e-11, 0.04917346313595772], "bottle_quat_xyzw": [2.1663185134634944e-10, -9.822784946544871e-11, 9.742805893379457e-17, 1.0], "bottom_z": -0.0002679968721371398, "q": [3.288667116407851e-08, 1.755957841873169, 1.4485381841659546, -1.2565151453018188, -1.2925094779348001e-05, -1.1903972563231946e-07, 0.037499070167541504, -0.03750065714120865], "target": [-6.423520743092936e-11, 1.7537248134613037, 1.4510246515274048, -1.256501317024231, -1.1759029860947123e-10, -8.644183285833051e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5440830588340759, 0.4516344666481018, 0.4516344666481018, -0.5440830588340759]}, "link_3": {"xyz": [0.06860377639532089, 2.5002285838127136e-05, 0.37348735332489014], "quat_xyzw": [-0.1082618460059166, 0.6987699866294861, -0.6987699270248413, -0.10826177895069122]}, "link_4": {"xyz": [0.32027366757392883, 2.5039538741111755e-05, 0.3565373122692108], "quat_xyzw": [-0.4982818067073822, 0.501712441444397, -0.501712441444397, -0.49828171730041504]}, "link_5": {"xyz": [0.36028048396110535, 5.774199962615967e-08, 0.2828100621700287], "quat_xyzw": [0.5017091631889343, 0.5017157196998596, -0.49827855825424194, -0.4982849657535553]}, "link_6": {"xyz": [0.3210236132144928, 5.053298082202673e-07, 0.2472398579120636], "quat_xyzw": [0.7071025371551514, 0.7071027755737305, 0.0024304515682160854, 0.0024212768767029047]}, "link_left_finger": {"xyz": [0.3606378138065338, 0.0005003884434700012, 0.18701022863388062], "quat_xyzw": [0.4982783794403076, 0.5017092227935791, 0.5017155408859253, -0.4982850253582001]}, "link_right_finger": {"xyz": [0.2822396755218506, -0.0004993900656700134, 0.18647229671478271], "quat_xyzw": [0.4982783794403076, 0.5017092227935791, 0.5017155408859253, -0.4982850253582001]}}}, {"t": 4.042, "phase": "descend", "bottle_xyz": [0.2800000011920929, -5.4582789676960175e-11, 0.04917346313595772], "bottle_quat_xyzw": [4.368127526355181e-10, -1.3129984599569156e-10, 1.2709230418205285e-16, 1.0], "bottom_z": -0.00026799687957327484, "q": [2.1953724171908107e-07, 1.756773591041565, 1.4398462772369385, -1.2473658323287964, -1.3484735063684639e-05, -1.2955682393567258e-07, 0.03749912604689598, -0.03750055283308029], "target": [-6.225041315754964e-11, 1.7545381784439087, 1.4423339366912842, -1.2473554611206055, -1.139568925334622e-10, -8.377087912236902e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5442671179771423, 0.45141252875328064, 0.4514124393463135, -0.5442671775817871]}, "link_3": {"xyz": [0.06881546229124069, 2.5006011128425598e-05, 0.37344756722450256], "quat_xyzw": [-0.11158240586519241, 0.6982473731040955, -0.6982474327087402, -0.11158225685358047]}, "link_4": {"xyz": [0.3203127980232239, 2.506561577320099e-05, 0.3541055917739868], "quat_xyzw": [-0.49837160110473633, 0.5016231536865234, -0.501623272895813, -0.49837151169776917]}, "link_5": {"xyz": [0.3602932095527649, 7.636845111846924e-08, 0.2803640365600586], "quat_xyzw": [0.5016197562217712, 0.5016266107559204, -0.49836820363998413, -0.4983748197555542]}, "link_6": {"xyz": [0.3210236132144928, 5.474867066368461e-07, 0.2448079138994217], "quat_xyzw": [0.7071029543876648, 0.7071031928062439, 0.002304050838574767, 0.0022945182863622904]}, "link_left_finger": {"xyz": [0.36061620712280273, 0.000500507652759552, 0.18456411361694336], "quat_xyzw": [0.4983680546283722, 0.5016199350357056, 0.5016264915466309, -0.49837496876716614]}, "link_right_finger": {"xyz": [0.28221791982650757, -0.0004992187023162842, 0.1840541958808899], "quat_xyzw": [0.4983680546283722, 0.5016199350357056, 0.5016264915466309, -0.49837496876716614]}}}, {"t": 4.062, "phase": "descend", "bottle_xyz": [0.2800000011920929, -7.980154731468403e-11, 0.04917346313595772], "bottle_quat_xyzw": [7.998894324678929e-10, -1.6601434116303437e-10, 1.6026480107916082e-16, 1.0], "bottom_z": -0.0002679968918582881, "q": [-3.95319119661508e-07, 1.75758695602417, 1.4311692714691162, -1.2382324934005737, -1.2006243196083233e-05, 3.348727091179171e-07, 0.037499211728572845, -0.037500474601984024], "target": [-6.026879689757791e-11, 1.7553502321243286, 1.433657169342041, -1.2382242679595947, -1.1032930818943854e-10, -8.110420668394624e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5444507598876953, 0.4511910080909729, 0.4511911869049072, -0.5444506406784058]}, "link_3": {"xyz": [0.06902647763490677, 2.4966895580291748e-05, 0.3734077513217926], "quat_xyzw": [-0.11489435285329819, 0.6977100968360901, -0.6977100372314453, -0.11489447951316833]}, "link_4": {"xyz": [0.320328950881958, 2.4922192096710205e-05, 0.35167983174324036], "quat_xyzw": [-0.4984610974788666, 0.5015342235565186, -0.5015341639518738, -0.49846115708351135]}, "link_5": {"xyz": [0.3602830171585083, -7.450580596923828e-08, 0.2779240012168884], "quat_xyzw": [0.501531183719635, 0.5015371441841125, -0.4984580874443054, -0.4984641373157501]}, "link_6": {"xyz": [0.32100072503089905, 3.626919351518154e-07, 0.24238191545009613], "quat_xyzw": [0.7071036100387573, 0.7071033716201782, 0.0021772130858153105, 0.0021687368862330914]}, "link_left_finger": {"xyz": [0.36057183146476746, 0.0005002990365028381, 0.18212395906448364], "quat_xyzw": [0.49845820665359497, 0.5015310645103455, 0.5015372633934021, -0.49846404790878296]}, "link_right_finger": {"xyz": [0.2821733355522156, -0.0004993826150894165, 0.1816421002149582], "quat_xyzw": [0.49845820665359497, 0.5015310645103455, 0.5015372633934021, -0.49846404790878296]}}}, {"t": 4.082, "phase": "descend", "bottle_xyz": [0.2800000011920929, -1.0937045019643321e-10, 0.04917346313595772], "bottle_quat_xyzw": [1.1000500510505162e-09, -2.0176778303682141e-10, 1.9765909547384144e-16, 1.0], "bottom_z": -0.00026799690211998933, "q": [-1.7653039208198607e-07, 1.7583973407745361, 1.4225143194198608, -1.2291210889816284, -1.2442949810065329e-05, -1.6304905159358896e-07, 0.0374993234872818, -0.03750044107437134], "target": [-5.829195459661207e-11, 1.7561603784561157, 1.4250012636184692, -1.2291151285171509, -1.0671045297394599e-10, -7.844394578349068e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5446335077285767, 0.4509704113006592, 0.45097050070762634, -0.5446334481239319]}, "link_3": {"xyz": [0.06923668831586838, 2.4985522031784058e-05, 0.37336793541908264], "quat_xyzw": [-0.11819516867399216, 0.6971585154533386, -0.6971584558486938, -0.11819518357515335]}, "link_4": {"xyz": [0.32032227516174316, 2.4985522031784058e-05, 0.3492623567581177], "quat_xyzw": [-0.4985499083995819, 0.5014459490776062, -0.5014459490776062, -0.4985498785972595]}, "link_5": {"xyz": [0.36025023460388184, -3.725290298461914e-09, 0.2754923701286316], "quat_xyzw": [0.5014427900314331, 0.5014490485191345, -0.4985468089580536, -0.49855297803878784]}, "link_6": {"xyz": [0.320955365896225, 4.3677573557943106e-07, 0.23996417224407196], "quat_xyzw": [0.7071037888526917, 0.7071039080619812, 0.0020521872211247683, 0.002043409738689661]}, "link_left_finger": {"xyz": [0.3605051040649414, 0.0005005300045013428, 0.17969222366809845], "quat_xyzw": [0.4985467493534088, 0.5014428496360779, 0.5014489889144897, -0.4985530376434326]}, "link_right_finger": {"xyz": [0.2821064293384552, -0.0004992596805095673, 0.17923811078071594], "quat_xyzw": [0.4985467493534088, 0.5014428496360779, 0.5014489889144897, -0.4985530376434326]}}}, {"t": 4.101999999999999, "phase": "descend", "bottle_xyz": [0.2800000011920929, -1.4047171759123955e-10, 0.04917346313595772], "bottle_quat_xyzw": [1.4441499107675781e-09, -2.3338678212248e-10, 2.387167544258377e-16, 1.0], "bottom_z": -0.00026799691382162205, "q": [-1.17982310143816e-07, 1.7592058181762695, 1.413886308670044, -1.2200393676757812, -1.2834763765567914e-05, 9.989301474888634e-08, 0.03749943524599075, -0.03750038892030716], "target": [-5.6321461383568305e-11, 1.7569679021835327, 1.4163731336593628, -1.220035195350647, -1.031032342835303e-10, -7.579224053921862e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5448157787322998, 0.4507502019405365, 0.45075029134750366, -0.544815719127655]}, "link_3": {"xyz": [0.0694463774561882, 2.4985522031784058e-05, 0.3733280599117279], "quat_xyzw": [-0.12148318439722061, 0.6965930461883545, -0.6965929865837097, -0.121483214199543]}, "link_4": {"xyz": [0.3202931880950928, 2.497062087059021e-05, 0.34685423970222473], "quat_xyzw": [-0.4986388385295868, 0.5013574957847595, -0.5013574957847595, -0.4986388087272644]}, "link_5": {"xyz": [0.36019498109817505, -2.60770320892334e-08, 0.2730700969696045], "quat_xyzw": [0.5013542175292969, 0.5013607144355774, -0.4986356198787689, -0.4986420273780823]}, "link_6": {"xyz": [0.3208875060081482, 4.239846020936966e-07, 0.2375558614730835], "quat_xyzw": [0.7071042060852051, 0.7071042060852051, 0.0019269190961495042, 0.00191780726891011]}, "link_left_finger": {"xyz": [0.36041587591171265, 0.0005006492137908936, 0.17726989090442657], "quat_xyzw": [0.4986356198787689, 0.5013542771339417, 0.5013607144355774, -0.49864205718040466]}, "link_right_finger": {"xyz": [0.2820170521736145, -0.000499185174703598, 0.1768435686826706], "quat_xyzw": [0.4986356198787689, 0.5013542771339417, 0.5013607144355774, -0.49864205718040466]}}}, {"t": 4.122, "phase": "descend", "bottle_xyz": [0.2800000011920929, -1.8027498938089082e-10, 0.04917346313595772], "bottle_quat_xyzw": [1.8618190322783335e-09, -2.685683619940704e-10, 2.855633938813945e-16, 1.0], "bottom_z": -0.00026799692802897956, "q": [-2.727268544333583e-08, 1.7600102424621582, 1.4052940607070923, -1.210994005203247, -1.2841875104641076e-05, 3.63352654630944e-08, 0.03749954700469971, -0.037500280886888504], "target": [-5.4358920142938416e-11, 1.7577720880508423, 1.4077799320220947, -1.2109918594360352, -9.95105595147372e-11, -7.31512350693464e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.544996976852417, 0.45053109526634216, 0.4505310654640198, -0.544996976852417]}, "link_3": {"xyz": [0.06965496391057968, 2.5017186999320984e-05, 0.37328818440437317], "quat_xyzw": [-0.12475470453500748, 0.6960145831108093, -0.6960146427154541, -0.12475460767745972]}, "link_4": {"xyz": [0.3202420473098755, 2.5061890482902527e-05, 0.3444584608078003], "quat_xyzw": [-0.49872687458992004, 0.5012699365615845, -0.5012699961662292, -0.49872684478759766]}, "link_5": {"xyz": [0.36011791229248047, 6.51925802230835e-08, 0.27066031098365784], "quat_xyzw": [0.5012667179107666, 0.5012732148170471, -0.49872368574142456, -0.49873003363609314]}, "link_6": {"xyz": [0.32079797983169556, 5.018373485654593e-07, 0.23515985906124115], "quat_xyzw": [0.7071044445037842, 0.7071045637130737, 0.0018027790356427431, 0.001793708186596632]}, "link_left_finger": {"xyz": [0.36030519008636475, 0.0005008429288864136, 0.17486003041267395], "quat_xyzw": [0.498723566532135, 0.5012667775154114, 0.5012730956077576, -0.4987300634384155]}, "link_right_finger": {"xyz": [0.2819061875343323, -0.0004990100860595703, 0.1744612455368042], "quat_xyzw": [0.498723566532135, 0.5012667775154114, 0.5012730956077576, -0.4987300634384155]}}}, {"t": 4.1419999999999995, "phase": "descend", "bottle_xyz": [0.2800000011920929, -2.2908423769063546e-10, 0.04917346313595772], "bottle_quat_xyzw": [2.3513786473472464e-09, -3.0336938516839496e-10, 3.3962741579204793e-16, 1.0], "bottom_z": -0.0002679969447345401, "q": [-1.9203259427058583e-08, 1.760811686515808, 1.396742820739746, -1.2019922733306885, -1.293498007726157e-05, -2.8819457043027796e-08, 0.03749965876340866, -0.03750016540288925], "target": [-5.2405912942532495e-11, 1.7585724592208862, 1.3992283344268799, -1.2019925117492676, -9.593534300300632e-11, -7.052305267540859e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5451774597167969, 0.45031267404556274, 0.45031267404556274, -0.5451774597167969]}, "link_3": {"xyz": [0.0698627308011055, 2.5002285838127136e-05, 0.3732483386993408], "quat_xyzw": [-0.12800811231136322, 0.6954236030578613, -0.6954236030578613, -0.12800806760787964]}, "link_4": {"xyz": [0.32016921043395996, 2.5024637579917908e-05, 0.34207624197006226], "quat_xyzw": [-0.49881482124328613, 0.5011824369430542, -0.5011824369430542, -0.49881479144096375]}, "link_5": {"xyz": [0.3600192070007324, 2.7939677238464355e-08, 0.26826411485671997], "quat_xyzw": [0.5011791586875916, 0.5011856555938721, -0.4988115727901459, -0.4988180100917816]}, "link_6": {"xyz": [0.32068678736686707, 4.851463017985225e-07, 0.2327774614095688], "quat_xyzw": [0.7071048021316528, 0.7071048617362976, 0.0016787161584943533, 0.0016695973463356495]}, "link_left_finger": {"xyz": [0.3601728677749634, 0.0005009397864341736, 0.1724637746810913], "quat_xyzw": [0.4988115429878235, 0.5011792182922363, 0.5011855959892273, -0.498818039894104]}, "link_right_finger": {"xyz": [0.28177371621131897, -0.0004989169538021088, 0.1720924973487854], "quat_xyzw": [0.4988115429878235, 0.5011792182922363, 0.5011855959892273, -0.498818039894104]}}}, {"t": 4.162, "phase": "descend", "bottle_xyz": [0.2800000011920929, -2.8731100831791423e-10, 0.04917346313595772], "bottle_quat_xyzw": [2.940562460196361e-09, -3.4000718907023497e-10, 4.076930776092722e-16, 1.0], "bottom_z": -0.00026799696482213836, "q": [2.796247144942754e-08, 1.7616075277328491, 1.388240933418274, -1.1930426359176636, -1.304399029322667e-05, -1.107627056740057e-07, 0.037499766796827316, -0.03750010207295418], "target": [-5.046403225850149e-11, 1.7593683004379272, 1.3907254934310913, -1.1930444240570068, -9.238049908377732e-11, -6.790985135340932e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5453566312789917, 0.4500957429409027, 0.4500957429409027, -0.5453566312789917]}, "link_3": {"xyz": [0.07006899267435074, 2.5002285838127136e-05, 0.373208612203598], "quat_xyzw": [-0.1312396079301834, 0.6948209404945374, -0.6948210000991821, -0.13123956322669983]}, "link_4": {"xyz": [0.32007476687431335, 2.500973641872406e-05, 0.33971065282821655], "quat_xyzw": [-0.49890202283859253, 0.5010955333709717, -0.5010956525802612, -0.49890202283859253]}, "link_5": {"xyz": [0.35989904403686523, 5.587935447692871e-09, 0.2658846378326416], "quat_xyzw": [0.5010923147201538, 0.5010988712310791, -0.49889886379241943, -0.4989052414894104]}, "link_6": {"xyz": [0.32055428624153137, 4.4683110900223255e-07, 0.23041167855262756], "quat_xyzw": [0.7071050405502319, 0.7071052193641663, 0.0015556449070572853, 0.0015464985044673085]}, "link_left_finger": {"xyz": [0.360019326210022, 0.0005010142922401428, 0.17008423805236816], "quat_xyzw": [0.4988987445831299, 0.5010924339294434, 0.5010987520217896, -0.49890533089637756]}, "link_right_finger": {"xyz": [0.2816200852394104, -0.0004988908767700195, 0.1697402447462082], "quat_xyzw": [0.4988987445831299, 0.5010924339294434, 0.5010987520217896, -0.49890533089637756]}}}, {"t": 4.1819999999999995, "phase": "descend", "bottle_xyz": [0.2800000011920929, -3.608132681520715e-10, 0.04917346313595772], "bottle_quat_xyzw": [3.684156979488762e-09, -3.746095100787272e-10, 4.936232730890205e-16, 1.0], "bottom_z": -0.0002679969901353621, "q": [9.663737898790714e-08, 1.7623976469039917, 1.3797954320907593, -1.1841517686843872, -1.322016123594949e-05, -1.9550422791780875e-07, 0.037499841302633286, -0.03750003129243851], "target": [-4.853486362810244e-11, 1.760158896446228, 1.3822784423828125, -1.184154987335205, -8.884892127580812e-11, -6.531375440488318e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -5.577447481641684e-08, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5455343723297119, 0.44988033175468445, 0.4498802125453949, -0.5455344915390015]}, "link_3": {"xyz": [0.07027376443147659, 2.5020912289619446e-05, 0.3731689751148224], "quat_xyzw": [-0.1344468593597412, 0.6942075490951538, -0.6942075490951538, -0.1344466209411621]}, "link_4": {"xyz": [0.3199595808982849, 2.5117769837379456e-05, 0.33736348152160645], "quat_xyzw": [-0.4989885091781616, 0.5010095238685608, -0.5010097026824951, -0.4989883303642273]}, "link_5": {"xyz": [0.3597584068775177, 1.3597309589385986e-07, 0.26352375745773315], "quat_xyzw": [0.5010062456130981, 0.5010129809379578, -0.498985230922699, -0.49899160861968994]}, "link_6": {"xyz": [0.3204014301300049, 5.729380063712597e-07, 0.2280643731355667], "quat_xyzw": [0.7071051597595215, 0.7071055769920349, 0.0014338314067572355, 0.0014245733618736267]}, "link_left_finger": {"xyz": [0.35984566807746887, 0.0005012489855289459, 0.16772332787513733], "quat_xyzw": [0.4989849627017975, 0.5010064244270325, 0.5010126829147339, -0.49899178743362427]}, "link_right_finger": {"xyz": [0.28144633769989014, -0.0004987083375453949, 0.167406365275383], "quat_xyzw": [0.4989849627017975, 0.5010064244270325, 0.5010126829147339, -0.49899178743362427]}}}, {"t": 4.202, "phase": "descend", "bottle_xyz": [0.2800000011920929, -4.5436468476545144e-10, 0.04917346313595772], "bottle_quat_xyzw": [4.607355830188453e-09, -4.0697289982460916e-10, 6.016900658403291e-16, 1.0], "bottom_z": -0.00026799702152726507, "q": [1.7589741219126154e-07, 1.763182520866394, 1.371411681175232, -1.1753268241882324, -1.3503929949365556e-05, -4.640160682356509e-07, 0.03749994933605194, -0.037499912083148956], "target": [-4.66199995274863e-11, 1.7609436511993408, 1.3738938570022583, -1.1753313541412354, -8.534353779232617e-11, -6.273690594804648e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 3.647424723363102e-11, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5457109212875366, 0.4496661424636841, 0.4496660530567169, -0.5457109808921814]}, "link_3": {"xyz": [0.07047722488641739, 2.5020912289619446e-05, 0.37312939763069153], "quat_xyzw": [-0.13762788474559784, 0.6935839056968689, -0.6935839056968689, -0.1376277506351471]}, "link_4": {"xyz": [0.31982421875, 2.5073066353797913e-05, 0.33503615856170654], "quat_xyzw": [-0.4990745782852173, 0.500923752784729, -0.5009238719940186, -0.49907445907592773]}, "link_5": {"xyz": [0.35959765315055847, 9.12696123123169e-08, 0.2611827552318573], "quat_xyzw": [0.5009203553199768, 0.500927209854126, -0.4990711808204651, -0.49907779693603516]}, "link_6": {"xyz": [0.3202284872531891, 5.634647095575929e-07, 0.22573690116405487], "quat_xyzw": [0.7071053385734558, 0.707105815410614, 0.0013123974204063416, 0.0013028942048549652]}, "link_left_finger": {"xyz": [0.35965201258659363, 0.0005013532936573029, 0.16538232564926147], "quat_xyzw": [0.49907100200653076, 0.5009206533432007, 0.5009270310401917, -0.49907806515693665]}, "link_right_finger": {"xyz": [0.28125250339508057, -0.0004985444247722626, 0.16509228944778442], "quat_xyzw": [0.49907100200653076, 0.5009206533432007, 0.5009270310401917, -0.49907806515693665]}}}, {"t": 4.2219999999999995, "phase": "descend", "bottle_xyz": [0.2800000011920929, -6.802027829877488e-10, 0.04917346313595772], "bottle_quat_xyzw": [2.5496964539684086e-09, -4.402786468737929e-10, 3.7801526659896805e-16, 1.0], "bottom_z": -0.0002679969521169265, "q": [1.2854430053721444e-07, 1.7639602422714233, 1.363097906112671, -1.1665760278701782, -1.3357699572225101e-05, -1.9673704798606195e-07, 0.037500038743019104, -0.03749980032444], "target": [-4.472102896335706e-11, 1.7617218494415283, 1.3655790090560913, -1.1665810346603394, -8.18672421520894e-11, -6.018145010111553e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -7.079263014020398e-06, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5458856821060181, 0.4494538903236389, 0.44945383071899414, -0.5458857417106628]}, "link_3": {"xyz": [0.07067874819040298, 2.5006011128425598e-05, 0.37309005856513977], "quat_xyzw": [-0.14077924191951752, 0.6929510831832886, -0.6929510831832886, -0.14077910780906677]}, "link_4": {"xyz": [0.31966906785964966, 2.505071461200714e-05, 0.33273154497146606], "quat_xyzw": [-0.4991598427295685, 0.5008387565612793, -0.5008388757705688, -0.49915972352027893]}, "link_5": {"xyz": [0.3594173491001129, 6.891787052154541e-08, 0.2588646113872528], "quat_xyzw": [0.5008354187011719, 0.5008422136306763, -0.49915653467178345, -0.49916306138038635]}, "link_6": {"xyz": [0.3200361132621765, 5.295005394145846e-07, 0.22343215346336365], "quat_xyzw": [0.7071056365966797, 0.7071059942245483, 0.0011919637909159064, 0.0011825446272268891]}, "link_left_finger": {"xyz": [0.35943907499313354, 0.0005014054477214813, 0.1630641520023346], "quat_xyzw": [0.49915632605552673, 0.5008355975151062, 0.5008420348167419, -0.4991632401943207]}, "link_right_finger": {"xyz": [0.2810395061969757, -0.0004984959959983826, 0.1628008335828781], "quat_xyzw": [0.49915632605552673, 0.5008355975151062, 0.5008420348167419, -0.4991632401943207]}}}, {"t": 4.242, "phase": "descend", "bottle_xyz": [0.2800000011920929, -6.802919894077775e-10, 0.04917346313595772], "bottle_quat_xyzw": [8.41633696069266e-09, -4.748889059769112e-10, 8.474971742489549e-16, 1.0], "bottom_z": -0.0002679971508265863, "q": [1.0292566798852931e-07, 1.7647309303283691, 1.3548611402511597, -1.1579045057296753, -1.3220536857261322e-05, -5.7561052813071e-08, 0.03750012069940567, -0.037499722093343735], "target": [-4.283954094241871e-11, 1.7624928951263428, 1.3573405742645264, -1.1579111814498901, -7.842294869053745e-11, -5.764951363507187e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -2.41516522692109e-06, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5460588335990906, 0.4492435157299042, 0.449243426322937, -0.5460588932037354]}, "link_3": {"xyz": [0.07087839394807816, 2.5020912289619446e-05, 0.37305089831352234], "quat_xyzw": [-0.14389871060848236, 0.6923100352287292, -0.692310094833374, -0.14389854669570923]}, "link_4": {"xyz": [0.31949517130851746, 2.508796751499176e-05, 0.33045125007629395], "quat_xyzw": [-0.49924394488334656, 0.5007548928260803, -0.5007550120353699, -0.4992438554763794]}, "link_5": {"xyz": [0.35921862721443176, 9.12696123123169e-08, 0.256570965051651], "quat_xyzw": [0.5007516741752625, 0.5007583498954773, -0.4992406964302063, -0.49924713373184204]}, "link_6": {"xyz": [0.3198254704475403, 5.352339940145612e-07, 0.22115173935890198], "quat_xyzw": [0.7071059346199036, 0.7071061134338379, 0.0010731426300480962, 0.001063872710801661]}, "link_left_finger": {"xyz": [0.3592081367969513, 0.0005014687776565552, 0.1607704907655716], "quat_xyzw": [0.49924054741859436, 0.500751793384552, 0.5007582306861877, -0.4992472231388092]}, "link_right_finger": {"xyz": [0.2808085083961487, -0.0004983991384506226, 0.16053350269794464], "quat_xyzw": [0.49924054741859436, 0.500751793384552, 0.5007582306861877, -0.4992472231388092]}}}, {"t": 4.262, "phase": "descend", "bottle_xyz": [0.2800000011920929, -7.695380443983879e-10, 0.04917346313595772], "bottle_quat_xyzw": [1.2617998201847058e-08, -5.140280423532317e-10, 1.5091075683879148e-15, 1.0], "bottom_z": -0.0002679972936896549, "q": [1.3844375246208074e-07, 1.7654937505722046, 1.3467075824737549, -1.1493210792541504, -1.3293224583321717e-05, -5.4559791351493914e-08, 0.037500154227018356, -0.03749967738986015], "target": [-4.097712447137525e-11, 1.7632560729980469, 1.349185824394226, -1.1493293046951294, -7.501357174310996e-11, -5.514324413757876e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 3.9010362229419115e-07, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.546230137348175, 0.4490351974964142, 0.449035108089447, -0.5462301969528198]}, "link_3": {"xyz": [0.07107599824666977, 2.5020912289619446e-05, 0.3730120360851288], "quat_xyzw": [-0.14698372781276703, 0.6916615962982178, -0.6916616559028625, -0.1469835340976715]}, "link_4": {"xyz": [0.3193030059337616, 2.508796751499176e-05, 0.3281973600387573], "quat_xyzw": [-0.49932733178138733, 0.5006717443466187, -0.500671923160553, -0.4993272125720978]}, "link_5": {"xyz": [0.35900187492370605, 9.872019290924072e-08, 0.25430384278297424], "quat_xyzw": [0.5006684064865112, 0.5006752610206604, -0.4993240535259247, -0.4993305206298828]}, "link_6": {"xyz": [0.31959694623947144, 5.441543180495501e-07, 0.2188977599143982], "quat_xyzw": [0.7071060538291931, 0.707106351852417, 0.0009554416756145656, 0.0009460148867219687]}, "link_left_finger": {"xyz": [0.35895946621894836, 0.000501532107591629, 0.15850335359573364], "quat_xyzw": [0.49932387471199036, 0.5006685853004456, 0.5006750822067261, -0.4993307292461395]}, "link_right_finger": {"xyz": [0.280559778213501, -0.0004983469843864441, 0.1582925170660019], "quat_xyzw": [0.49932387471199036, 0.5006685853004456, 0.5006750822067261, -0.4993307292461395]}}}, {"t": 4.282, "phase": "descend", "bottle_xyz": [0.2800000011920929, -1.0411868034410077e-09, 0.04917346313595772], "bottle_quat_xyzw": [1.3740129922723554e-08, -5.498212440890882e-10, 1.7296587483478184e-15, 1.0], "bottom_z": -0.0002679973318986395, "q": [1.35237442577818e-07, 1.7662475109100342, 1.338645100593567, -1.1408339738845825, -1.328786038357066e-05, 6.601794666494243e-09, 0.037500157952308655, -0.03749966248869896], "target": [-3.9135372026377624e-11, 1.7640109062194824, 1.3411214351654053, -1.1408425569534302, -7.164201870635267e-11, -5.266478225740556e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -3.919688538189803e-07, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5463993549346924, 0.44882932305336, 0.4488292336463928, -0.5463994741439819]}, "link_3": {"xyz": [0.07127120345830917, 2.5006011128425598e-05, 0.3729734718799591], "quat_xyzw": [-0.15003125369548798, 0.6910070180892944, -0.6910070180892944, -0.15003104507923126]}, "link_4": {"xyz": [0.3190935254096985, 2.508796751499176e-05, 0.3259721100330353], "quat_xyzw": [-0.4994097650051117, 0.5005896091461182, -0.5005897283554077, -0.49940958619117737]}, "link_5": {"xyz": [0.3587680459022522, 1.0617077350616455e-07, 0.2520655393600464], "quat_xyzw": [0.500586211681366, 0.5005930662155151, -0.4994063675403595, -0.4994128942489624]}, "link_6": {"xyz": [0.319351464509964, 5.649635568261147e-07, 0.21667243540287018], "quat_xyzw": [0.7071062326431274, 0.7071064710617065, 0.0008391281007789075, 0.000829660682938993]}, "link_left_finger": {"xyz": [0.3586941361427307, 0.0005015581846237183, 0.15626509487628937], "quat_xyzw": [0.49940621852874756, 0.5005863904953003, 0.5005929470062256, -0.4994131028652191]}, "link_right_finger": {"xyz": [0.28029435873031616, -0.0004983171820640564, 0.15608003735542297], "quat_xyzw": [0.49940621852874756, 0.5005863904953003, 0.5005929470062256, -0.4994131028652191]}}}, {"t": 4.302, "phase": "descend", "bottle_xyz": [0.2800000011920929, -1.329115706383277e-09, 0.04917346313595772], "bottle_quat_xyzw": [1.8137029655918013e-08, -5.815844472678577e-10, 2.3467937188275008e-15, 1.0], "bottom_z": -0.00026799748161465686, "q": [-3.6162937533390505e-08, 1.766992449760437, 1.3306796550750732, -1.1324490308761597, -1.2875800166511908e-05, 3.59709702024702e-08, 0.03750014677643776, -0.03749971091747284], "target": [-3.7315865675235926e-11, 1.7647565603256226, 1.3331544399261475, -1.1324584484100342, -6.831119697681132e-11, -5.021625823498077e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -1.177692077192205e-08, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5465665459632874, 0.44862571358680725, 0.44862571358680725, -0.5465665459632874]}, "link_3": {"xyz": [0.07146412879228592, 2.5002285838127136e-05, 0.3729352056980133], "quat_xyzw": [-0.15303924679756165, 0.6903470158576965, -0.6903470158576965, -0.15303918719291687]}, "link_4": {"xyz": [0.31886759400367737, 2.5024637579917908e-05, 0.3237769901752472], "quat_xyzw": [-0.4994911551475525, 0.5005083084106445, -0.5005083680152893, -0.4994910955429077]}, "link_5": {"xyz": [0.3585180640220642, 2.7939677238464355e-08, 0.24985751509666443], "quat_xyzw": [0.5005050897598267, 0.5005115866661072, -0.4994879364967346, -0.4994943141937256]}, "link_6": {"xyz": [0.31908997893333435, 4.858593456447124e-07, 0.21447724103927612], "quat_xyzw": [0.7071064114570618, 0.7071064710617065, 0.000723821169231087, 0.0007147206924855709]}, "link_left_finger": {"xyz": [0.3584129810333252, 0.000501435250043869, 0.154057115316391], "quat_xyzw": [0.49948790669441223, 0.5005051493644714, 0.5005115270614624, -0.49949437379837036]}, "link_right_finger": {"xyz": [0.28001314401626587, -0.000498458743095398, 0.15389758348464966], "quat_xyzw": [0.49948790669441223, 0.5005051493644714, 0.5005115270614624, -0.49949437379837036]}}}, {"t": 4.322, "phase": "descend", "bottle_xyz": [0.2800000011920929, -1.7653900563630032e-09, 0.04917346313595772], "bottle_quat_xyzw": [2.2643572350489194e-08, -6.149959985712883e-10, 2.845784216186798e-15, 1.0], "bottom_z": -0.0002679976350640212, "q": [-2.416455231468717e-07, 1.7677279710769653, 1.322819471359253, -1.1241724491119385, -1.2357038031041157e-05, 3.142396565181116e-08, 0.0375000424683094, -0.0374998115003109], "target": [-3.5520201363548054e-11, 1.7654924392700195, 1.3252918720245361, -1.1241841316223145, -6.502401395103163e-11, -4.7799819657967646e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 5.6930289815682045e-08, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5467315316200256, 0.44842463731765747, 0.44842469692230225, -0.5467314720153809]}, "link_3": {"xyz": [0.07165458053350449, 2.4985522031784058e-05, 0.37289729714393616], "quat_xyzw": [-0.15600478649139404, 0.6896829009056091, -0.6896829009056091, -0.15600481629371643]}, "link_4": {"xyz": [0.31862637400627136, 2.497062087059021e-05, 0.3216143250465393], "quat_xyzw": [-0.4995709955692291, 0.5004286170005798, -0.5004286170005798, -0.4995710253715515]}, "link_5": {"xyz": [0.35825324058532715, -3.3527612686157227e-08, 0.24768218398094177], "quat_xyzw": [0.5004255175590515, 0.5004317164421082, -0.4995679259300232, -0.49957409501075745]}, "link_6": {"xyz": [0.31881386041641235, 4.0837039705365896e-07, 0.21231448650360107], "quat_xyzw": [0.7071065306663513, 0.7071065306663513, 0.0006107788067311049, 0.0006020388100296259]}, "link_left_finger": {"xyz": [0.35811758041381836, 0.0005011968314647675, 0.15188182890415192], "quat_xyzw": [0.4995679557323456, 0.5004255771636963, 0.5004317164421082, -0.4995741546154022]}, "link_right_finger": {"xyz": [0.27971765398979187, -0.0004986561834812164, 0.15174731612205505], "quat_xyzw": [0.4995679557323456, 0.5004255771636963, 0.5004317164421082, -0.4995741546154022]}}}, {"t": 4.342, "phase": "descend", "bottle_xyz": [0.2800000011920929, -2.303274460047078e-09, 0.04917346313595772], "bottle_quat_xyzw": [2.982881497359813e-08, -6.495243232151893e-10, 3.644937355548128e-15, 1.0], "bottom_z": -0.00026799787972408423, "q": [-2.8686378072961816e-07, 1.7684521675109863, 1.315070390701294, -1.1160156726837158, -1.2160524420323782e-05, 3.790691494032217e-08, 0.03749987110495567, -0.03749999403953552], "target": [-3.374996462857105e-11, 1.766217827796936, 1.3175406455993652, -1.1160269975662231, -6.178338396445326e-11, -4.541760023624164e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -5.847303782502422e-06, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5468938946723938, 0.44822660088539124, 0.44822680950164795, -0.5468937754631042]}, "link_3": {"xyz": [0.0718420222401619, 2.4966895580291748e-05, 0.3728598356246948], "quat_xyzw": [-0.15892523527145386, 0.6890158653259277, -0.6890157461166382, -0.158925399184227]}, "link_4": {"xyz": [0.3183704614639282, 2.491474151611328e-05, 0.3194860816001892], "quat_xyzw": [-0.49965015053749084, 0.5003497004508972, -0.5003495216369629, -0.4996502101421356]}, "link_5": {"xyz": [0.35797393321990967, -8.195638656616211e-08, 0.24554139375686646], "quat_xyzw": [0.5003465414047241, 0.5003526210784912, -0.4996470808982849, -0.49965330958366394]}, "link_6": {"xyz": [0.3185233473777771, 3.545719664543867e-07, 0.210186168551445], "quat_xyzw": [0.7071067094802856, 0.7071065902709961, 0.0004988823202438653, 0.0004901956999674439]}, "link_left_finger": {"xyz": [0.3578079342842102, 0.0005009733140468597, 0.1497410535812378], "quat_xyzw": [0.4996471703052521, 0.5003464818000793, 0.500352680683136, -0.4996532201766968]}, "link_right_finger": {"xyz": [0.2794080078601837, -0.000498894602060318, 0.1496313512325287], "quat_xyzw": [0.4996471703052521, 0.5003464818000793, 0.500352680683136, -0.4996532201766968]}}}, {"t": 4.362, "phase": "descend", "bottle_xyz": [0.2800000011920929, -2.9233340193002277e-09, 0.04917346313595772], "bottle_quat_xyzw": [3.9968739429241396e-08, -6.827901577466378e-10, 5.827920831607278e-15, 1.0], "bottom_z": -0.00026799822499210674, "q": [-3.0130635764180624e-07, 1.7691651582717896, 1.3074392080307007, -1.1079837083816528, -1.22022911455133e-05, 3.5466138115225476e-07, 0.03749970346689224, -0.03750016167759895], "target": [-3.200674794645586e-11, 1.7669322490692139, 1.3099076747894287, -1.1079943180084229, -5.859221441362195e-11, -4.3071737149125155e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 1.4611747474191361e-06, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5470536351203918, 0.44803157448768616, 0.4480317533016205, -0.5470534563064575]}, "link_3": {"xyz": [0.07202661782503128, 2.4981796741485596e-05, 0.37282276153564453], "quat_xyzw": [-0.16179846227169037, 0.6883467435836792, -0.6883467435836792, -0.1617986559867859]}, "link_4": {"xyz": [0.31810104846954346, 2.491474151611328e-05, 0.31739380955696106], "quat_xyzw": [-0.4997282028198242, 0.5002716183662415, -0.5002715587615967, -0.49972835183143616]}, "link_5": {"xyz": [0.3576814532279968, -9.685754776000977e-08, 0.2434367835521698], "quat_xyzw": [0.5002686381340027, 0.5002745985984802, -0.49972522258758545, -0.4997313320636749]}, "link_6": {"xyz": [0.3182198405265808, 3.2412935979664326e-07, 0.20809386670589447], "quat_xyzw": [0.70710688829422, 0.7071065902709961, 0.00038845499511808157, 0.0003799456753768027]}, "link_left_finger": {"xyz": [0.3574855923652649, 0.000500749796628952, 0.14763648808002472], "quat_xyzw": [0.4997253715991974, 0.5002685189247131, 0.5002747178077698, -0.499731183052063]}, "link_right_finger": {"xyz": [0.279085636138916, -0.0004990957677364349, 0.1475512534379959], "quat_xyzw": [0.4997253715991974, 0.5002685189247131, 0.5002747178077698, -0.499731183052063]}}}, {"t": 4.382, "phase": "descend", "bottle_xyz": [0.2800000011920929, -3.957921546060561e-09, 0.04917346313595772], "bottle_quat_xyzw": [4.633941941278863e-08, -7.119163036861664e-10, 6.853717541280757e-15, 1.0], "bottom_z": -0.00026799844191598143, "q": [-4.121716017380095e-07, 1.769866943359375, 1.2999330759048462, -1.1000831127166748, -1.174384760815883e-05, 4.605747250252534e-08, 0.037499554455280304, -0.03750031813979149], "target": [-3.029214032390648e-11, 1.7676348686218262, 1.30239999294281, -1.1000934839248657, -5.545341616453037e-11, -4.07643745148345e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -1.0139925734620192e-06, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5472108125686646, 0.447839617729187, 0.44783979654312134, -0.547210693359375]}, "link_3": {"xyz": [0.0722082182765007, 2.4981796741485596e-05, 0.37278619408607483], "quat_xyzw": [-0.16462206840515137, 0.6876769661903381, -0.6876769065856934, -0.1646222174167633]}, "link_4": {"xyz": [0.3178194463253021, 2.4937093257904053e-05, 0.3153393864631653], "quat_xyzw": [-0.49980512261390686, 0.5001948475837708, -0.5001947283744812, -0.499805212020874]}, "link_5": {"xyz": [0.3573771119117737, -6.705522537231445e-08, 0.24137018620967865], "quat_xyzw": [0.500191867351532, 0.50019770860672, -0.4998021721839905, -0.499808132648468]}, "link_6": {"xyz": [0.31790462136268616, 3.517779987305403e-07, 0.2060394138097763], "quat_xyzw": [0.7071068286895752, 0.7071067094802856, 0.0002797013439703733, 0.00027133087860420346]}, "link_left_finger": {"xyz": [0.35715174674987793, 0.0005006305873394012, 0.14556996524333954], "quat_xyzw": [0.49980223178863525, 0.5001918077468872, 0.5001977682113647, -0.49980807304382324]}, "link_right_finger": {"xyz": [0.27875179052352905, -0.0004992596805095673, 0.14550884068012238], "quat_xyzw": [0.49980223178863525, 0.5001918077468872, 0.5001977682113647, -0.49980807304382324]}}}, {"t": 4.402, "phase": "descend", "bottle_xyz": [0.2800000011920929, -5.369720224024377e-09, 0.04917346313595772], "bottle_quat_xyzw": [5.341482278709009e-08, -7.412289115826809e-10, 7.634442631841622e-15, 1.0], "bottom_z": -0.0002679986828359529, "q": [-2.952223496777151e-07, 1.7705559730529785, 1.2925599813461304, -1.0923211574554443, -1.2089857591490727e-05, -7.717980565757898e-08, 0.03749944269657135, -0.03750046342611313], "target": [-2.8607727298179952e-11, 1.7683252096176147, 1.2950246334075928, -1.0923317670822144, -5.2369896613724265e-11, -3.8497646043245126e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 7.13601093593752e-06, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5473650693893433, 0.44765108823776245, 0.4476512670516968, -0.5473649501800537]}, "link_3": {"xyz": [0.0723864957690239, 2.4981796741485596e-05, 0.3727501928806305], "quat_xyzw": [-0.167392760515213, 0.6870077848434448, -0.6870077252388, -0.16739292442798615]}, "link_4": {"xyz": [0.31752660870552063, 2.492964267730713e-05, 0.3133251368999481], "quat_xyzw": [-0.49988019466400146, 0.5001198649406433, -0.5001197457313538, -0.49988028407096863]}, "link_5": {"xyz": [0.35706207156181335, -6.705522537231445e-08, 0.23934406042099], "quat_xyzw": [0.500116765499115, 0.5001227259635925, -0.4998771548271179, -0.4998832643032074]}, "link_6": {"xyz": [0.3175790011882782, 3.6829442251473665e-07, 0.20402514934539795], "quat_xyzw": [0.7071068286895752, 0.7071067690849304, 0.00017364048107992858, 0.00016511810827068985]}, "link_left_finger": {"xyz": [0.35680797696113586, 0.0005005486309528351, 0.14354392886161804], "quat_xyzw": [0.4998772144317627, 0.5001167058944702, 0.5001227855682373, -0.4998832046985626]}, "link_right_finger": {"xyz": [0.2784079909324646, -0.0004993751645088196, 0.14350633323192596], "quat_xyzw": [0.4998772144317627, 0.5001167058944702, 0.5001227855682373, -0.4998832046985626]}}}, {"t": 4.422, "phase": "descend", "bottle_xyz": [0.2800000011920929, -6.923866369135112e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.774354943672733e-08, -7.186793937741243e-10, 6.317881534232371e-15, 1.0], "bottom_z": -0.0002679991707340845, "q": [-1.396856106339328e-07, 1.771231770515442, 1.285326600074768, -1.0847052335739136, -1.2469433386286255e-05, -3.456287345215969e-08, 0.03749937564134598, -0.03750057518482208], "target": [-2.6955101345427224e-11, 1.7690024375915527, 1.2877882719039917, -1.084716558456421, -4.934456662719633e-11, -3.627369585257334e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -7.892698477007798e-07, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5475162863731384, 0.4474661648273468, 0.44746625423431396, -0.5475162267684937]}, "link_3": {"xyz": [0.07256133109331131, 2.4985522031784058e-05, 0.37271472811698914], "quat_xyzw": [-0.17010833323001862, 0.6863403916358948, -0.6863403916358948, -0.1701083779335022]}, "link_4": {"xyz": [0.31722378730773926, 2.497062087059021e-05, 0.3113526701927185], "quat_xyzw": [-0.4999535083770752, 0.5000464916229248, -0.5000464916229248, -0.4999535381793976]}, "link_5": {"xyz": [0.35673755407333374, -2.60770320892334e-08, 0.23736000061035156], "quat_xyzw": [0.5000433921813965, 0.5000495910644531, -0.4999504089355469, -0.4999566078186035]}, "link_6": {"xyz": [0.31724411249160767, 4.0771556086838245e-07, 0.20205265283584595], "quat_xyzw": [0.7071068286895752, 0.7071068286895752, 7.013740105321631e-05, 6.137930176919326e-05]}, "link_left_finger": {"xyz": [0.35645535588264465, 0.0005005486309528351, 0.14155994355678558], "quat_xyzw": [0.4999504089355469, 0.5000433921813965, 0.5000495910644531, -0.4999566078186035]}, "link_right_finger": {"xyz": [0.2780553698539734, -0.0004994310438632965, 0.14154532551765442], "quat_xyzw": [0.4999504089355469, 0.5000433921813965, 0.5000495910644531, -0.4999566078186035]}}}, {"t": 4.442, "phase": "descend", "bottle_xyz": [0.2800000011920929, -7.301530935421852e-09, 0.04917346313595772], "bottle_quat_xyzw": [7.07245533249079e-08, -5.686466852949934e-10, 6.56234667775475e-15, 1.0], "bottom_z": -0.00026799927223829234, "q": [4.676743969866948e-08, 1.7718933820724487, 1.2782397270202637, -1.0772424936294556, -1.3039814803050831e-05, -1.4679119431093568e-07, 0.03749933838844299, -0.03750067576766014], "target": [-2.533585147235229e-11, 1.769666075706482, 1.2806981801986694, -1.077255129814148, -4.6380333601492296e-11, -3.4094657652694593e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -7.729698836556054e-07, 0.7848419547080994], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.547664225101471, 0.447284996509552, 0.447284996509552, -0.547664225101471]}, "link_3": {"xyz": [0.07273256033658981, 2.5002285838127136e-05, 0.37267985939979553], "quat_xyzw": [-0.17276620864868164, 0.6856762766838074, -0.6856762170791626, -0.17276613414287567]}, "link_4": {"xyz": [0.3169122040271759, 2.5039538741111755e-05, 0.30942389369010925], "quat_xyzw": [-0.5000250339508057, 0.4999750554561615, -0.4999750554561615, -0.5000249743461609]}, "link_5": {"xyz": [0.3564048111438751, 5.029141902923584e-08, 0.23541992902755737], "quat_xyzw": [0.49997177720069885, 0.49997830390930176, -0.5000216960906982, -0.5000282526016235]}, "link_6": {"xyz": [0.3169012665748596, 5.10393874719739e-07, 0.2001238763332367], "quat_xyzw": [0.7071067690849304, 0.70710688829422, -3.0685794627061114e-05, -3.992408892372623e-05]}, "link_left_finger": {"xyz": [0.35609522461891174, 0.0005006641149520874, 0.13961994647979736], "quat_xyzw": [0.5000216364860535, 0.49997180700302124, 0.49997827410697937, -0.5000282526016235]}, "link_right_finger": {"xyz": [0.2776952385902405, -0.0004993937909603119, 0.13962775468826294], "quat_xyzw": [0.5000216364860535, 0.49997180700302124, 0.49997827410697937, -0.5000282526016235]}}}, {"t": 4.462, "phase": "descend", "bottle_xyz": [0.2800000011920929, -6.1139049378766686e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.190878565348612e-08, -4.532670905277314e-10, 9.441741584805072e-15, 1.0], "bottom_z": -0.0002679989720583559, "q": [1.5937273190047563e-07, 1.772540807723999, 1.2713043689727783, -1.069944143295288, -1.3408128324954305e-05, -2.2670491262033465e-07, 0.03749930113554001, -0.03750074654817581], "target": [-2.3751564950935666e-11, 1.7703152894973755, 1.2737611532211304, -1.0699548721313477, -4.3480104933157904e-11, -3.196267209237824e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -6.106130285843392e-07, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5478089451789856, 0.4471077620983124, 0.4471076726913452, -0.5478090047836304]}, "link_3": {"xyz": [0.07289998978376389, 2.5006011128425598e-05, 0.37264567613601685], "quat_xyzw": [-0.17536461353302002, 0.6850162744522095, -0.6850163340568542, -0.17536446452140808]}, "link_4": {"xyz": [0.3165929913520813, 2.506561577320099e-05, 0.30753999948501587], "quat_xyzw": [-0.5000960826873779, 0.4999038577079773, -0.49990400671958923, -0.5000960230827332]}, "link_5": {"xyz": [0.3560645580291748, 6.146728992462158e-08, 0.23352482914924622], "quat_xyzw": [0.49990057945251465, 0.4999072849750519, -0.5000927448272705, -0.5000993609428406]}, "link_6": {"xyz": [0.3165510296821594, 5.298934411257505e-07, 0.1982399970293045], "quat_xyzw": [0.7071067094802856, 0.7071069478988647, -0.0001311348023591563, -0.00014054501662030816]}, "link_left_finger": {"xyz": [0.35572776198387146, 0.0005006603896617889, 0.13772492110729218], "quat_xyzw": [0.500092625617981, 0.4999006986618042, 0.4999071955680847, -0.5000994801521301]}, "link_right_finger": {"xyz": [0.2773277759552002, -0.0004994310438632965, 0.13775502145290375], "quat_xyzw": [0.500092625617981, 0.4999006986618042, 0.4999071955680847, -0.5000994801521301]}}}, {"t": 4.482, "phase": "descend", "bottle_xyz": [0.2800000011920929, -5.144169978876789e-09, 0.04917346313595772], "bottle_quat_xyzw": [5.2172907771819155e-08, -4.1977540887749853e-10, 1.0855345553115354e-14, 1.0], "bottom_z": -0.0002679986405483073, "q": [-1.9386283156563877e-07, 1.7731733322143555, 1.2645305395126343, -1.0628114938735962, -1.2462061022233684e-05, -2.2514313968713395e-08, 0.03749927878379822, -0.0375007800757885], "target": [-2.2203834257328303e-11, 1.7709496021270752, 1.266984224319458, -1.0628230571746826, -4.0646798427079744e-11, -2.987987635094669e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -4.014118459849669e-08, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5479504466056824, 0.44693440198898315, 0.4469345211982727, -0.5479503273963928]}, "link_3": {"xyz": [0.07306357473134995, 2.5000423192977905e-05, 0.3726121783256531], "quat_xyzw": [-0.1779000461101532, 0.6843621730804443, -0.6843621730804443, -0.17790015041828156]}, "link_4": {"xyz": [0.31626763939857483, 2.4963170289993286e-05, 0.30570340156555176], "quat_xyzw": [-0.5001644492149353, 0.4998355209827423, -0.49983546137809753, -0.5001645684242249]}, "link_5": {"xyz": [0.3557189404964447, -4.0978193283081055e-08, 0.23167741298675537], "quat_xyzw": [0.499832421541214, 0.49983853101730347, -0.500161349773407, -0.5001676678657532]}, "link_6": {"xyz": [0.3161957263946533, 3.99129930883646e-07, 0.1964033842086792], "quat_xyzw": [0.7071068286895752, 0.7071066498756409, -0.00022826305939815938, -0.00023704947670921683]}, "link_left_finger": {"xyz": [0.3553559184074402, 0.0005004256963729858, 0.13587763905525208], "quat_xyzw": [0.5001614689826965, 0.4998323321342468, 0.499838650226593, -0.5001675486564636]}, "link_right_finger": {"xyz": [0.2769559323787689, -0.0004996173083782196, 0.1359291821718216], "quat_xyzw": [0.5001614689826965, 0.4998323321342468, 0.499838650226593, -0.5001675486564636]}}}, {"t": 4.502, "phase": "descend", "bottle_xyz": [0.2800000011920929, -4.506844675233879e-09, 0.04917346313595772], "bottle_quat_xyzw": [4.560268251907473e-08, -4.4851303226955963e-10, 1.0117922904400497e-14, 1.0], "bottom_z": -0.0002679984168298469, "q": [-4.5647001911675034e-07, 1.7737902402877808, 1.2579231262207031, -1.0558550357818604, -1.1725277545338031e-05, 1.2922660630465543e-07, 0.03749920427799225, -0.03750082105398178], "target": [-2.0694246663510718e-11, 1.7715681791305542, 1.2603743076324463, -1.0558669567108154, -3.788331454090965e-11, -2.784841454661624e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -9.70426228263932e-09, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071066498756409, 0.7071070075035095]}, "link_2": {"xyz": [0.020000001415610313, 2.499297261238098e-05, 0.11400000005960464], "quat_xyzw": [0.5480883121490479, 0.4467652440071106, 0.4467655122280121, -0.5480880737304688]}, "link_3": {"xyz": [0.07322313636541367, 2.4963170289993286e-05, 0.3725793659687042], "quat_xyzw": [-0.18037080764770508, 0.6837151050567627, -0.6837150454521179, -0.18037109076976776]}, "link_4": {"xyz": [0.31593748927116394, 2.485141158103943e-05, 0.3039153814315796], "quat_xyzw": [-0.5002313256263733, 0.49976855516433716, -0.49976834654808044, -0.5002315044403076]}, "link_5": {"xyz": [0.3553689420223236, -1.601874828338623e-07, 0.22987884283065796], "quat_xyzw": [0.49976563453674316, 0.49977126717567444, -0.5002283453941345, -0.5002344846725464]}, "link_6": {"xyz": [0.3158362805843353, 2.827146090567112e-07, 0.194615438580513], "quat_xyzw": [0.7071070075035095, 0.7071065306663513, -0.00032321448088623583, -0.00033154155244119465]}, "link_left_finger": {"xyz": [0.3549802601337433, 0.0005001835525035858, 0.13407915830612183], "quat_xyzw": [0.5002287030220032, 0.4997653663158417, 0.4997715950012207, -0.5002342462539673]}, "link_right_finger": {"xyz": [0.276580274105072, -0.0004998035728931427, 0.13415171205997467], "quat_xyzw": [0.5002287030220032, 0.4997653663158417, 0.4997715950012207, -0.5002342462539673]}}}, {"t": 4.522, "phase": "descend", "bottle_xyz": [0.2800000011920929, -4.085217497618032e-09, 0.04917346313595772], "bottle_quat_xyzw": [4.491921501426077e-08, -4.770758788019691e-10, 9.943382448256328e-15, 1.0], "bottom_z": -0.0002679983935575392, "q": [-3.947720728092463e-08, 1.7743909358978271, 1.251489520072937, -1.0490827560424805, -1.2818041795981117e-05, 1.7422767939478945e-07, 0.03749915584921837, -0.037500832229852676], "target": [-1.9224392910910382e-11, 1.7721705436706543, 1.2539383172988892, -1.0490939617156982, -3.519257107953422e-11, -2.5870418654538874e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -1.1242679676115586e-07, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5482223629951477, 0.4466007947921753, 0.4466007947921753, -0.5482223629951477]}, "link_3": {"xyz": [0.07337840646505356, 2.5002285838127136e-05, 0.3725473880767822], "quat_xyzw": [-0.18277455866336823, 0.6830765008926392, -0.6830765008926392, -0.18277448415756226]}, "link_4": {"xyz": [0.3156038224697113, 2.503208816051483e-05, 0.3021778166294098], "quat_xyzw": [-0.5002968907356262, 0.49970296025276184, -0.4997030198574066, -0.5002968311309814]}, "link_5": {"xyz": [0.35501590371131897, 3.5390257835388184e-08, 0.22813095152378082], "quat_xyzw": [0.49969974160194397, 0.4997062385082245, -0.5002936720848083, -0.5003000497817993]}, "link_6": {"xyz": [0.3154740035533905, 4.786415956914425e-07, 0.1928778886795044], "quat_xyzw": [0.7071067094802856, 0.7071067094802856, -0.00041538235382176936, -0.00042447750456631184]}, "link_left_finger": {"xyz": [0.3546021282672882, 0.0005004182457923889, 0.13233135640621185], "quat_xyzw": [0.5002936720848083, 0.49969977140426636, 0.4997062087059021, -0.5003000497817993]}, "link_right_finger": {"xyz": [0.2762022018432617, -0.0004995763301849365, 0.13242444396018982], "quat_xyzw": [0.5002936720848083, 0.49969977140426636, 0.4997062087059021, -0.5003000497817993]}}}, {"t": 4.542, "phase": "descend", "bottle_xyz": [0.2800000011920929, -4.03229583056941e-09, 0.04917346313595772], "bottle_quat_xyzw": [4.4332026050142304e-08, -5.047356421705729e-10, 9.897267433508963e-15, 1.0], "bottom_z": -0.00026799837356353967, "q": [1.9599239919898537e-07, 1.774973750114441, 1.2452372312545776, -1.042500615119934, -1.3653725545736961e-05, 6.33142889228111e-08, 0.037499163299798965, -0.037500787526369095], "target": [-1.7795860271507813e-11, 1.7727559804916382, 1.2476832866668701, -1.0425113439559937, -3.257746850060528e-11, -2.394803105820742e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5483524203300476, 0.44644105434417725, 0.4464409649372101, -0.5483525395393372]}, "link_3": {"xyz": [0.07352908700704575, 2.5006011128425598e-05, 0.3725162148475647], "quat_xyzw": [-0.1851080060005188, 0.6824478507041931, -0.6824478507041931, -0.18510779738426208]}, "link_4": {"xyz": [0.3152678310871124, 2.5080516934394836e-05, 0.30049267411231995], "quat_xyzw": [-0.5003601908683777, 0.499639630317688, -0.49963974952697754, -0.5003600120544434]}, "link_5": {"xyz": [0.3546611964702606, 9.872019290924072e-08, 0.2264358252286911], "quat_xyzw": [0.499636173248291, 0.4996431767940521, -0.5003567337989807, -0.5003634691238403]}, "link_6": {"xyz": [0.31511038541793823, 5.622569005936384e-07, 0.19119277596473694], "quat_xyzw": [0.7071065306663513, 0.7071067094802856, -0.000504547730088234, -0.0005142795271240175]}, "link_left_finger": {"xyz": [0.35422319173812866, 0.0005005821585655212, 0.1306363344192505], "quat_xyzw": [0.5003565549850464, 0.4996362626552582, 0.4996430277824402, -0.5003635883331299]}, "link_right_finger": {"xyz": [0.2758232653141022, -0.0004994198679924011, 0.13074928522109985], "quat_xyzw": [0.5003565549850464, 0.4996362626552582, 0.4996430277824402, -0.5003635883331299]}}}, {"t": 4.562, "phase": "descend", "bottle_xyz": [0.2800000011920929, -4.188156488282857e-09, 0.04917346313595772], "bottle_quat_xyzw": [4.986844004406521e-08, -5.324730656397492e-10, 1.0436745258714068e-14, 1.0], "bottom_z": -0.00026799856208038764, "q": [3.253654767831904e-07, 1.7755399942398071, 1.2391726970672607, -1.0361158847808838, -1.4137379366729874e-05, -5.670440117455655e-09, 0.03749925643205643, -0.03750065714120865], "target": [-1.6410239486730482e-11, 1.7733237743377686, 1.241616129875183, -1.0361264944076538, -3.004092460900942e-11, -2.2083390671667757e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -8.763512596487999e-06, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5484787821769714, 0.44628578424453735, 0.446285605430603, -0.548478901386261]}, "link_3": {"xyz": [0.07367550581693649, 2.5024637579917908e-05, 0.37248584628105164], "quat_xyzw": [-0.18736962974071503, 0.6818303465843201, -0.6818304061889648, -0.18736937642097473]}, "link_4": {"xyz": [0.31493133306503296, 2.5114044547080994e-05, 0.29886093735694885], "quat_xyzw": [-0.5004216432571411, 0.49957799911499023, -0.49957817792892456, -0.5004214644432068]}, "link_5": {"xyz": [0.3543064594268799, 1.2479722499847412e-07, 0.2247944176197052], "quat_xyzw": [0.4995744824409485, 0.4995817244052887, -0.5004181265830994, -0.5004250407218933]}, "link_6": {"xyz": [0.3147469460964203, 6.001791916787624e-07, 0.18956109881401062], "quat_xyzw": [0.7071064710617065, 0.7071067094802856, -0.0005914353532716632, -0.0006014428217895329]}, "link_left_finger": {"xyz": [0.35384485125541687, 0.0005007423460483551, 0.12899503111839294], "quat_xyzw": [0.500417947769165, 0.4995746314525604, 0.49958154559135437, -0.5004252195358276]}, "link_right_finger": {"xyz": [0.27544495463371277, -0.0004992224276065826, 0.12912726402282715], "quat_xyzw": [0.500417947769165, 0.4995746314525604, 0.49958154559135437, -0.5004252195358276]}}}, {"t": 4.582, "phase": "descend", "bottle_xyz": [0.2800000011920929, -4.567220823759044e-09, 0.04917346313595772], "bottle_quat_xyzw": [5.978421313557192e-08, -5.289332305480343e-10, 1.0936772524400805e-14, 1.0], "bottom_z": -0.00026799889971591134, "q": [4.4960257739035114e-09, 1.7760878801345825, 1.2333030700683594, -1.0299358367919922, -1.332316969637759e-05, 3.3668420940102806e-08, 0.03749934956431389, -0.037500545382499695], "target": [-1.5069119563282385e-11, 1.7738734483718872, 1.2357438802719116, -1.0299466848373413, -2.758584333184544e-11, -2.0278636408965767e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 9.683922144176904e-07, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5486010909080505, 0.4461354613304138, 0.4461354613304138, -0.5486010909080505]}, "link_3": {"xyz": [0.07381708174943924, 2.5002285838127136e-05, 0.3724564015865326], "quat_xyzw": [-0.18955636024475098, 0.6812256574630737, -0.6812256574630737, -0.189556285738945]}, "link_4": {"xyz": [0.314595490694046, 2.503208816051483e-05, 0.2972847819328308], "quat_xyzw": [-0.5004808902740479, 0.49951866269111633, -0.4995187222957611, -0.5004808306694031]}, "link_5": {"xyz": [0.3539530336856842, 4.284083843231201e-08, 0.22320890426635742], "quat_xyzw": [0.4995153546333313, 0.49952206015586853, -0.5004775524139404, -0.5004841685295105]}, "link_6": {"xyz": [0.31438517570495605, 5.03176124766469e-07, 0.18798495829105377], "quat_xyzw": [0.7071064710617065, 0.7071064710617065, -0.000675638671964407, -0.0006850650534033775]}, "link_left_finger": {"xyz": [0.353468656539917, 0.0005006752908229828, 0.12740963697433472], "quat_xyzw": [0.5004774928092957, 0.4995153546333313, 0.49952200055122375, -0.5004841685295105]}, "link_right_finger": {"xyz": [0.27506881952285767, -0.0004992559552192688, 0.12756048142910004], "quat_xyzw": [0.5004774928092957, 0.4995153546333313, 0.49952200055122375, -0.5004841685295105]}}}, {"t": 4.602, "phase": "descend", "bottle_xyz": [0.2800000011920929, -5.518106860336047e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.016940545805483e-08, -4.6532985797931303e-10, 8.80027167538813e-15, 1.0], "bottom_z": -0.0002679989128318433, "q": [-9.456767458004833e-08, 1.7766169309616089, 1.2276346683502197, -1.0239688158035278, -1.2929900549352169e-05, -8.915088045569064e-08, 0.03749942034482956, -0.03750045225024223], "target": [-1.3774091242590991e-11, 1.7744041681289673, 1.23007333278656, -1.0239791870117188, -2.5215135535106015e-11, -1.8535903714700375e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 2.341426181828865e-07, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5487191081047058, 0.44599026441574097, 0.44599035382270813, -0.548719048500061]}, "link_3": {"xyz": [0.07395384460687637, 2.4985522031784058e-05, 0.37242791056632996], "quat_xyzw": [-0.1916663497686386, 0.6806350350379944, -0.6806349754333496, -0.191666379570961]}, "link_4": {"xyz": [0.3142617344856262, 2.4978071451187134e-05, 0.2957655191421509], "quat_xyzw": [-0.5005384683609009, 0.4994610548019409, -0.49946099519729614, -0.5005384683609009]}, "link_5": {"xyz": [0.35360220074653625, -1.862645149230957e-08, 0.22168056666851044], "quat_xyzw": [0.49945777654647827, 0.4994641840457916, -0.5005351305007935, -0.5005416870117188]}, "link_6": {"xyz": [0.31402623653411865, 4.517787601798773e-07, 0.1864657700061798], "quat_xyzw": [0.7071064114570618, 0.7071064114570618, -0.0007572651957161725, -0.0007664294098503888]}, "link_left_finger": {"xyz": [0.35309576988220215, 0.0005006715655326843, 0.12588143348693848], "quat_xyzw": [0.5005351901054382, 0.49945777654647827, 0.4994642436504364, -0.5005416870117188]}, "link_right_finger": {"xyz": [0.2746959626674652, -0.0004992224276065826, 0.12605035305023193], "quat_xyzw": [0.5005351901054382, 0.49945777654647827, 0.4994642436504364, -0.5005416870117188]}}}, {"t": 4.622, "phase": "descend", "bottle_xyz": [0.2800000011920929, -6.773625216283108e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.125917195731745e-08, -4.006250053922855e-10, 6.110748520827278e-15, 1.0], "bottom_z": -0.0002679989499387789, "q": [-3.335499627610261e-07, 1.7771263122558594, 1.2221753597259521, -1.018221139907837, -1.2201206118334085e-05, -1.3175704793866316e-07, 0.037499427795410156, -0.03750040382146835], "target": [-1.2526740929275082e-11, 1.774915337562561, 1.2246116399765015, -1.0182315111160278, -2.2931710350060364e-11, -1.6857334972364413e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -1.1565036402316764e-05, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5488327145576477, 0.4458504915237427, 0.445850670337677, -0.5488325953483582]}, "link_3": {"xyz": [0.07408543676137924, 2.4966895580291748e-05, 0.3724004030227661], "quat_xyzw": [-0.19369667768478394, 0.6800600290298462, -0.6800599694252014, -0.1936967968940735]}, "link_4": {"xyz": [0.31393149495124817, 2.4937093257904053e-05, 0.29430508613586426], "quat_xyzw": [-0.5005935430526733, 0.49940580129623413, -0.4994056820869446, -0.5005936026573181]}, "link_5": {"xyz": [0.35325559973716736, -5.960464477539063e-08, 0.2202114462852478], "quat_xyzw": [0.4994027316570282, 0.4994087517261505, -0.500590443611145, -0.5005967020988464]}, "link_6": {"xyz": [0.3136718273162842, 3.762543201446533e-07, 0.18500538170337677], "quat_xyzw": [0.707106351852417, 0.7071062922477722, -0.0008355699246749282, -0.0008442738326266408]}, "link_left_finger": {"xyz": [0.352728009223938, 0.0005005635321140289, 0.1244124174118042], "quat_xyzw": [0.5005905032157898, 0.49940264225006104, 0.4994088411331177, -0.5005966424942017]}, "link_right_finger": {"xyz": [0.27432823181152344, -0.0004992857575416565, 0.12459863722324371], "quat_xyzw": [0.5005905032157898, 0.49940264225006104, 0.4994088411331177, -0.5005966424942017]}}}, {"t": 4.6419999999999995, "phase": "descend", "bottle_xyz": [0.2800000011920929, -7.267174417791011e-09, 0.04917346313595772], "bottle_quat_xyzw": [7.013694158786166e-08, -2.478902916269732e-10, 5.6128782245407245e-15, 1.0], "bottom_z": -0.0002679992522299085, "q": [1.9713414189936884e-07, 1.7776151895523071, 1.216931700706482, -1.0127017498016357, -1.3665166079590563e-05, -2.532499365770491e-07, 0.03749944269657135, -0.03750036656856537], "target": [-1.1328660232123866e-11, 1.7754062414169312, 1.2193657159805298, -1.0127108097076416, -2.0738478642701175e-11, -1.524506909600376e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -2.7950810022048245e-07, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5489415526390076, 0.4457164406776428, 0.44571632146835327, -0.5489416718482971]}, "link_3": {"xyz": [0.07421178370714188, 2.5006011128425598e-05, 0.37237390875816345], "quat_xyzw": [-0.1956453174352646, 0.679502010345459, -0.679502010345459, -0.19564507901668549]}, "link_4": {"xyz": [0.3136062026023865, 2.5095418095588684e-05, 0.29290494322776794], "quat_xyzw": [-0.5006469488143921, 0.49935227632522583, -0.49935242533683777, -0.500646710395813]}, "link_5": {"xyz": [0.3529144823551178, 1.1362135410308838e-07, 0.21880292892456055], "quat_xyzw": [0.49934881925582886, 0.49935591220855713, -0.5006434917449951, -0.5006502270698547]}, "link_6": {"xyz": [0.3133232295513153, 5.820475053042173e-07, 0.18360531330108643], "quat_xyzw": [0.7071059942245483, 0.7071064710617065, -0.0009104456985369325, -0.0009202444925904274]}, "link_left_finger": {"xyz": [0.35236647725105286, 0.000500902533531189, 0.1230040192604065], "quat_xyzw": [0.5006431937217712, 0.49934905767440796, 0.49935564398765564, -0.5006504654884338]}, "link_right_finger": {"xyz": [0.2739667296409607, -0.0004989728331565857, 0.1232069581747055], "quat_xyzw": [0.5006431937217712, 0.49934905767440796, 0.49935564398765564, -0.5006504654884338]}}}, {"t": 4.662, "phase": "descend", "bottle_xyz": [0.2800000011920929, -6.542139718845874e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.185031509176042e-08, -1.414251216136364e-10, 7.793159665498133e-15, 1.0], "bottom_z": -0.00026799897006741374, "q": [9.972126946422577e-08, 1.778083324432373, 1.2119107246398926, -1.0074163675308228, -1.3481410860549659e-05, -3.069243632580765e-07, 0.03749950975179672, -0.03750031441450119], "target": [-1.01814372904796e-11, 1.7758764028549194, 1.214342474937439, -1.0074244737625122, -1.863834954429766e-11, -1.3701241530217345e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 1.0192483159698895e-06, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5490459203720093, 0.4455879330635071, 0.4455878436565399, -0.549045979976654]}, "link_3": {"xyz": [0.07433270663022995, 2.5006011128425598e-05, 0.37234851717948914], "quat_xyzw": [-0.19750948250293732, 0.6789624691009521, -0.6789625287055969, -0.19750933349132538]}, "link_4": {"xyz": [0.31328731775283813, 2.506561577320099e-05, 0.2915666699409485], "quat_xyzw": [-0.5006977915763855, 0.4993012845516205, -0.4993014335632324, -0.500697672367096]}, "link_5": {"xyz": [0.3525805175304413, 7.636845111846924e-08, 0.2174566388130188], "quat_xyzw": [0.4992979168891907, 0.49930477142333984, -0.5006943941116333, -0.5007010102272034]}, "link_6": {"xyz": [0.31298208236694336, 5.401088856160641e-07, 0.18226708471775055], "quat_xyzw": [0.7071059346199036, 0.707106351852417, -0.0009826184250414371, -0.0009921498131006956]}, "link_left_finger": {"xyz": [0.35201296210289, 0.000500895082950592, 0.1216578483581543], "quat_xyzw": [0.500694215297699, 0.4992981255054474, 0.49930456280708313, -0.5007012486457825]}, "link_right_finger": {"xyz": [0.2736132740974426, -0.0004989877343177795, 0.12187676131725311], "quat_xyzw": [0.500694215297699, 0.4992981255054474, 0.49930456280708313, -0.5007012486457825]}}}, {"t": 4.6819999999999995, "phase": "descend", "bottle_xyz": [0.2800000011920929, -6.033139321459657e-09, 0.04917346313595772], "bottle_quat_xyzw": [5.144122638967019e-08, -1.0147079010369708e-10, 8.891300612163654e-15, 1.0], "bottom_z": -0.00026799861563429894, "q": [-1.9122430217066722e-07, 1.778530478477478, 1.2071192264556885, -1.0023720264434814, -1.2633190635824576e-05, -8.058584199943652e-08, 0.03749954700469971, -0.037500329315662384], "target": [-9.086661978408017e-12, 1.7763251066207886, 1.209548830986023, -1.0023797750473022, -1.663423045139556e-11, -1.222799379113626e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 9.819566315627526e-08, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5491455793380737, 0.4454651176929474, 0.44546517729759216, -0.549145519733429]}, "link_3": {"xyz": [0.07444822043180466, 2.5000423192977905e-05, 0.3723241984844208], "quat_xyzw": [-0.19928711652755737, 0.6784428358078003, -0.6784428358078003, -0.19928713142871857]}, "link_4": {"xyz": [0.3129764199256897, 2.5000423192977905e-05, 0.2902916669845581], "quat_xyzw": [-0.5007461905479431, 0.4992527365684509, -0.49925270676612854, -0.5007461905479431]}, "link_5": {"xyz": [0.3522552251815796, 3.725290298461914e-09, 0.21617400646209717], "quat_xyzw": [0.49924957752227783, 0.49925586581230164, -0.5007429718971252, -0.5007493495941162]}, "link_6": {"xyz": [0.3126499652862549, 4.5319029595702887e-07, 0.18099214136600494], "quat_xyzw": [0.7071060538291931, 0.7071060538291931, -0.0010515518952161074, -0.0010604843264445662]}, "link_left_finger": {"xyz": [0.3516690731048584, 0.0005007795989513397, 0.12037530541419983], "quat_xyzw": [0.50074303150177, 0.49924957752227783, 0.499255895614624, -0.5007493495941162]}, "link_right_finger": {"xyz": [0.2732694447040558, -0.0004991181194782257, 0.12060946226119995], "quat_xyzw": [0.50074303150177, 0.49924957752227783, 0.499255895614624, -0.5007493495941162]}}}, {"t": 4.702, "phase": "descend", "bottle_xyz": [0.2800000011920929, -5.69693314744768e-09, 0.04917346313595772], "bottle_quat_xyzw": [4.981414747362578e-08, -1.3006376531343733e-10, 8.376139408808325e-15, 1.0], "bottom_z": -0.0002679985602317067, "q": [-2.0913955722789979e-07, 1.778955101966858, 1.2025638818740845, -0.9975774884223938, -1.2570917533594184e-05, 1.9376444981844543e-07, 0.0374995619058609, -0.03750040382146835], "target": [-8.045923302613112e-12, 1.7767515182495117, 1.2049918174743652, -0.9975841045379639, -1.4729033964711036e-11, -1.0827463058082909e-11, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -1.5177149634837406e-06, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5492401719093323, 0.44534847140312195, 0.4453485608100891, -0.5492401123046875]}, "link_3": {"xyz": [0.07455793768167496, 2.4985522031784058e-05, 0.3723010718822479], "quat_xyzw": [-0.20097582042217255, 0.677944540977478, -0.6779444813728333, -0.20097586512565613]}, "link_4": {"xyz": [0.3126746416091919, 2.4985522031784058e-05, 0.2890816926956177], "quat_xyzw": [-0.5007925033569336, 0.4992063343524933, -0.4992062449455261, -0.5007925033569336]}, "link_5": {"xyz": [0.35193967819213867, -3.725290298461914e-09, 0.21495674550533295], "quat_xyzw": [0.4992031157016754, 0.4992094039916992, -0.5007892847061157, -0.5007956624031067]}, "link_6": {"xyz": [0.31232789158821106, 4.4499756768345833e-07, 0.1797822266817093], "quat_xyzw": [0.7071059942245483, 0.707105815410614, -0.0011171394726261497, -0.0011260905303061008]}, "link_left_finger": {"xyz": [0.351335734128952, 0.0005007795989513397, 0.11915817856788635], "quat_xyzw": [0.5007893443107605, 0.49920302629470825, 0.4992094933986664, -0.5007955431938171]}, "link_right_finger": {"xyz": [0.2729361653327942, -0.0004991963505744934, 0.11940686404705048], "quat_xyzw": [0.5007893443107605, 0.49920302629470825, 0.4992094933986664, -0.5007955431938171]}}}, {"t": 4.7219999999999995, "phase": "descend", "bottle_xyz": [0.2800000011920929, -5.70833780244584e-09, 0.04917346313595772], "bottle_quat_xyzw": [5.036969241700717e-08, -1.6023506133056031e-10, 8.405681376909713e-15, 1.0], "bottom_z": -0.000267998579148207, "q": [-1.444816035700569e-07, 1.779357671737671, 1.1982520818710327, -0.9930383563041687, -1.2836620044254232e-05, 4.350813753717375e-08, 0.037499576807022095, -0.03750048950314522], "target": [-7.060810703479747e-12, 1.7771552801132202, 1.2006783485412598, -0.9930447936058044, -1.2925666613428088e-11, -9.501789979826647e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 1.012814095702197e-06, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5493297576904297, 0.445237934589386, 0.44523802399635315, -0.5493296980857849]}, "link_3": {"xyz": [0.07466187328100204, 2.4985522031784058e-05, 0.3722790777683258], "quat_xyzw": [-0.2025732547044754, 0.6774688959121704, -0.6774688959121704, -0.2025732696056366]}, "link_4": {"xyz": [0.31238359212875366, 2.4985522031784058e-05, 0.28793811798095703], "quat_xyzw": [-0.500836193561554, 0.4991624653339386, -0.4991624355316162, -0.500836193561554]}, "link_5": {"xyz": [0.3516356647014618, -3.725290298461914e-09, 0.21380630135536194], "quat_xyzw": [0.4991592466831207, 0.4991656541824341, -0.5008329749107361, -0.5008394718170166]}, "link_6": {"xyz": [0.3120177388191223, 4.456669557839632e-07, 0.17863871157169342], "quat_xyzw": [0.7071058750152588, 0.7071057558059692, -0.0011789769632741809, -0.001188104972243309]}, "link_left_finger": {"xyz": [0.35101497173309326, 0.0005008131265640259, 0.11800782382488251], "quat_xyzw": [0.5008329749107361, 0.4991591274738312, 0.49916568398475647, -0.500839352607727]}, "link_right_finger": {"xyz": [0.2726154327392578, -0.0004992708563804626, 0.11827023327350616], "quat_xyzw": [0.5008329749107361, 0.4991591274738312, 0.49916568398475647, -0.500839352607727]}}}, {"t": 4.742, "phase": "descend", "bottle_xyz": [0.2800000011920929, -5.991831475427034e-09, 0.04917346313595772], "bottle_quat_xyzw": [5.634931099507412e-08, -1.895517909300537e-10, 8.963325517734582e-15, 1.0], "bottom_z": -0.00026799878275629574, "q": [2.365462563602705e-07, 1.779736876487732, 1.1941897869110107, -0.9887642860412598, -1.3919016055297107e-05, -2.101860729908367e-07, 0.037499621510505676, -0.03750055283308029], "target": [-6.132914055073657e-12, 1.7775355577468872, 1.1966153383255005, -0.9887690544128418, -1.1227039263539407e-11, -8.253111735689878e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -1.050560695148306e-05, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5494140982627869, 0.44513383507728577, 0.4451337456703186, -0.5494141578674316]}, "link_3": {"xyz": [0.0747598335146904, 2.5006011128425598e-05, 0.3722583055496216], "quat_xyzw": [-0.2040773630142212, 0.677017331123352, -0.6770173907279968, -0.20407721400260925]}, "link_4": {"xyz": [0.31210464239120483, 2.506561577320099e-05, 0.286862313747406], "quat_xyzw": [-0.500878095626831, 0.4991203844547272, -0.4991205334663391, -0.5008779764175415]}, "link_5": {"xyz": [0.3513442873954773, 7.636845111846924e-08, 0.21272391080856323], "quat_xyzw": [0.4991169571876526, 0.4991239905357361, -0.5008746385574341, -0.5008814334869385]}, "link_6": {"xyz": [0.31172046065330505, 5.461624823510647e-07, 0.17756295204162598], "quat_xyzw": [0.7071055769920349, 0.7071058750152588, -0.0012378973187878728, -0.0012476614210754633]}, "link_left_finger": {"xyz": [0.3507075309753418, 0.0005010291934013367, 0.11692554503679276], "quat_xyzw": [0.5008744597434998, 0.4991171061992645, 0.49912381172180176, -0.500881552696228]}, "link_right_finger": {"xyz": [0.2723080515861511, -0.0004991963505744934, 0.11720108240842819], "quat_xyzw": [0.5008744597434998, 0.4991171061992645, 0.49912381172180176, -0.500881552696228]}}}, {"t": 4.762, "phase": "descend", "bottle_xyz": [0.2800000011920929, -6.698763765911053e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.006206376696355e-08, -1.6027486282599313e-10, 7.943523260228822e-15, 1.0], "bottom_z": -0.00026799890917682256, "q": [3.010862883456866e-07, 1.7800912857055664, 1.1903860569000244, -0.9847599267959595, -1.4245380953070708e-05, -1.5387031737645884e-07, 0.03749972954392433, -0.03750048950314522], "target": [-5.263821930417967e-12, 1.7778916358947754, 1.1928099393844604, -0.9847643375396729, -9.636061046314204e-12, -7.08356723971848e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 2.5389915663254214e-06, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5494929552078247, 0.44503650069236755, 0.4450363218784332, -0.549493134021759]}, "link_3": {"xyz": [0.0748513713479042, 2.5024637579917908e-05, 0.3722389042377472], "quat_xyzw": [-0.20548461377620697, 0.6765915751457214, -0.6765916347503662, -0.2054843008518219]}, "link_4": {"xyz": [0.3118390440940857, 2.514384686946869e-05, 0.2858567237854004], "quat_xyzw": [-0.5009165406227112, 0.4990818202495575, -0.4990820288658142, -0.5009163022041321]}, "link_5": {"xyz": [0.35106727480888367, 1.695007085800171e-07, 0.2117122858762741], "quat_xyzw": [0.49907830357551575, 0.4990856349468231, -0.5009129643440247, -0.5009198784828186]}, "link_6": {"xyz": [0.31143805384635925, 6.49786670692265e-07, 0.17655742168426514], "quat_xyzw": [0.7071054577827454, 0.707105815410614, -0.001292128930799663, -0.0013022031635046005]}, "link_left_finger": {"xyz": [0.35041582584381104, 0.0005012713372707367, 0.1159140020608902], "quat_xyzw": [0.5009127259254456, 0.4990784823894501, 0.49908536672592163, -0.5009201169013977]}, "link_right_finger": {"xyz": [0.27201634645462036, -0.0004990138113498688, 0.11620160937309265], "quat_xyzw": [0.5009127259254456, 0.4990784823894501, 0.49908536672592163, -0.5009201169013977]}}}, {"t": 4.782, "phase": "descend", "bottle_xyz": [0.2800000011920929, -7.428622605942792e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.755423243021141e-08, -1.1869098759387242e-10, 6.046620503423602e-15, 1.0], "bottom_z": -0.0002679991642877688, "q": [9.743561690811475e-08, 1.7804206609725952, 1.1868468523025513, -0.981034517288208, -1.3608424524136353e-05, -1.8194650408531743e-07, 0.03749983757734299, -0.03750041499733925], "target": [-4.45512376989754e-12, 1.7782231569290161, 1.189268946647644, -0.9810379147529602, -8.15564196038343e-12, -5.995295405958334e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 1.2444678532119724e-06, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5495662689208984, 0.4449459910392761, 0.44494590163230896, -0.549566388130188]}, "link_3": {"xyz": [0.0749363973736763, 2.5006011128425598e-05, 0.37222084403038025], "quat_xyzw": [-0.20679284632205963, 0.6761928796768188, -0.6761928796768188, -0.2067926526069641]}, "link_4": {"xyz": [0.3115881085395813, 2.5080516934394836e-05, 0.2849225103855133], "quat_xyzw": [-0.5009521842002869, 0.49904605746269226, -0.4990461766719818, -0.5009520053863525]}, "link_5": {"xyz": [0.35080575942993164, 9.872019290924072e-08, 0.21077246963977814], "quat_xyzw": [0.4990426301956177, 0.4990496039390564, -0.5009487271308899, -0.5009554624557495]}, "link_6": {"xyz": [0.3111714720726013, 5.710899131372571e-07, 0.17562328279018402], "quat_xyzw": [0.7071053981781006, 0.7071057558059692, -0.0013428841484710574, -0.0013525814283639193]}, "link_left_finger": {"xyz": [0.3501405715942383, 0.0005012676119804382, 0.11497427523136139], "quat_xyzw": [0.5009485483169556, 0.4990428388118744, 0.49904942512512207, -0.5009556412696838]}, "link_right_finger": {"xyz": [0.27174112200737, -0.0004990436136722565, 0.11527309566736221], "quat_xyzw": [0.5009485483169556, 0.4990428388118744, 0.49904942512512207, -0.5009556412696838]}}}, {"t": 4.802, "phase": "descend", "bottle_xyz": [0.2800000011920929, -7.2617925006568385e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.53873470923827e-08, -4.374692622044485e-11, 6.753755795043488e-15, 1.0], "bottom_z": -0.00026799909050458093, "q": [1.3752841709901986e-07, 1.7807254791259766, 1.1835789680480957, -0.977593719959259, -1.3756459338765126e-05, -1.6663589974541537e-07, 0.03749992325901985, -0.037500329315662384], "target": [-3.70840901389724e-12, 1.778529167175293, 1.1859993934631348, -0.9775971174240112, -6.7886902696545626e-12, -4.990435582136188e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -3.896546729720285e-07, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5496340990066528, 0.4448622465133667, 0.4448621869087219, -0.5496341586112976]}, "link_3": {"xyz": [0.07501507550477982, 2.5020912289619446e-05, 0.37220409512519836], "quat_xyzw": [-0.20800039172172546, 0.675822377204895, -0.675822377204895, -0.20800024271011353]}, "link_4": {"xyz": [0.3113533556461334, 2.506561577320099e-05, 0.28406086564064026], "quat_xyzw": [-0.5009850859642029, 0.4990130662918091, -0.49901309609413147, -0.5009849667549133]}, "link_5": {"xyz": [0.3505612015724182, 8.381903171539307e-08, 0.20990565419197083], "quat_xyzw": [0.4990095794200897, 0.4990166127681732, -0.5009815692901611, -0.5009884834289551]}, "link_6": {"xyz": [0.3109222948551178, 5.647743819281459e-07, 0.17476169764995575], "quat_xyzw": [0.7071053385734558, 0.7071055173873901, -0.001389425597153604, -0.00139928690623492]}, "link_left_finger": {"xyz": [0.34988337755203247, 0.0005013532936573029, 0.11410757899284363], "quat_xyzw": [0.5009814500808716, 0.4990096390247345, 0.49901649355888367, -0.5009885430335999]}, "link_right_finger": {"xyz": [0.27148401737213135, -0.0004989355802536011, 0.11441673338413239], "quat_xyzw": [0.5009814500808716, 0.4990096390247345, 0.49901649355888367, -0.5009885430335999]}}}, {"t": 4.822, "phase": "descend", "bottle_xyz": [0.2800000011920929, -6.930303442231889e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.010503739162232e-08, 2.907893110332127e-13, 7.773885430783362e-15, 1.0], "bottom_z": -0.00026799891064008263, "q": [1.2356376544175873e-07, 1.7810038328170776, 1.1805881261825562, -0.9744486808776855, -1.3778789252683055e-05, -2.8423645659358954e-08, 0.03749996796250343, -0.03750022500753403], "target": [-3.0252671028019318e-12, 1.7788090705871582, 1.183008074760437, -0.9744492173194885, -5.5381164064394195e-12, -4.071126248617052e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 1.4589753016824858e-10, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5496960282325745, 0.4447857439517975, 0.4447856545448303, -0.5496960878372192]}, "link_3": {"xyz": [0.07508695870637894, 2.5020912289619446e-05, 0.3721887767314911], "quat_xyzw": [-0.20910483598709106, 0.6754814386367798, -0.6754814982414246, -0.20910465717315674]}, "link_4": {"xyz": [0.31113579869270325, 2.5095418095588684e-05, 0.2832733690738678], "quat_xyzw": [-0.5010160207748413, 0.49898189306259155, -0.4989820420742035, -0.5010159015655518]}, "link_5": {"xyz": [0.35033443570137024, 1.0617077350616455e-07, 0.20911329984664917], "quat_xyzw": [0.49897849559783936, 0.4989854693412781, -0.5010125637054443, -0.5010193586349487]}, "link_6": {"xyz": [0.3106911778450012, 5.83779183216393e-07, 0.17397427558898926], "quat_xyzw": [0.707105278968811, 0.7071053981781006, -0.001433357479982078, -0.0014431115705519915]}, "link_left_finger": {"xyz": [0.3496447503566742, 0.0005013979971408844, 0.11331532895565033], "quat_xyzw": [0.5010125041007996, 0.4989786148071289, 0.4989854395389557, -0.5010194778442383]}, "link_right_finger": {"xyz": [0.27124539017677307, -0.0004988089203834534, 0.11363419890403748], "quat_xyzw": [0.5010125041007996, 0.4989786148071289, 0.4989854395389557, -0.5010194778442383]}}}, {"t": 4.842, "phase": "descend", "bottle_xyz": [0.2800000011920929, -6.784514727797841e-09, 0.04917346313595772], "bottle_quat_xyzw": [5.954663251372949e-08, 6.01620281370785e-11, 8.066400635821109e-15, 1.0], "bottom_z": -0.0002679988916262019, "q": [4.060999003741017e-07, 1.7812566757202148, 1.1778825521469116, -0.9716013073921204, -1.462929412809899e-05, 7.057259665543825e-08, 0.03750007972121239, -0.0375000461935997], "target": [-2.4072872601560436e-12, 1.779062271118164, 1.1803021430969238, -0.9716016054153442, -4.4068299356880836e-12, -3.239505668925502e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5497521758079529, 0.44471627473831177, 0.44471609592437744, -0.5497523546218872]}, "link_3": {"xyz": [0.07515225559473038, 2.5024637579917908e-05, 0.37217479944229126], "quat_xyzw": [-0.2101038545370102, 0.6751713752746582, -0.675171434879303, -0.21010354161262512]}, "link_4": {"xyz": [0.3109370172023773, 2.514384686946869e-05, 0.28256145119667053], "quat_xyzw": [-0.5010438561439514, 0.49895402789115906, -0.49895423650741577, -0.5010436177253723]}, "link_5": {"xyz": [0.3501274287700653, 1.695007085800171e-07, 0.2083970010280609], "quat_xyzw": [0.49895036220550537, 0.49895787239074707, -0.5010401606559753, -0.5010472536087036]}, "link_6": {"xyz": [0.3104802668094635, 6.623449735343456e-07, 0.17326238751411438], "quat_xyzw": [0.7071051597595215, 0.7071053981781006, -0.0014724044594913721, -0.0014827341074123979]}, "link_left_finger": {"xyz": [0.34942707419395447, 0.0005016550421714783, 0.11259908974170685], "quat_xyzw": [0.501039981842041, 0.4989505410194397, 0.49895769357681274, -0.5010474324226379]}, "link_right_finger": {"xyz": [0.27102774381637573, -0.0004985257983207703, 0.11292670667171478], "quat_xyzw": [0.501039981842041, 0.4989505410194397, 0.49895769357681274, -0.5010474324226379]}}}, {"t": 4.862, "phase": "descend", "bottle_xyz": [0.2800000011920929, -6.915012562558331e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.068124491775961e-08, 1.1861012172431629e-10, 7.747539317991964e-15, 1.0], "bottom_z": -0.00026799893026015903, "q": [9.520460508838369e-08, 1.7814819812774658, 1.1754701137542725, -0.9690600037574768, -1.3620956451632082e-05, 6.99150177752017e-08, 0.03750017657876015, -0.03749990090727806], "target": [-1.856058709504005e-12, 1.7792881727218628, 1.1778885126113892, -0.969061553478241, -3.397739554988899e-12, -2.4977131907882866e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -3.898232421306602e-07, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.549802303314209, 0.444654256105423, 0.4446541666984558, -0.5498023629188538]}, "link_3": {"xyz": [0.07521045953035355, 2.5020912289619446e-05, 0.3721623420715332], "quat_xyzw": [-0.21099406480789185, 0.6748936772346497, -0.6748937368392944, -0.2109939008951187]}, "link_4": {"xyz": [0.31075796484947205, 2.5080516934394836e-05, 0.2819273769855499], "quat_xyzw": [-0.5010678172111511, 0.4989299178123474, -0.49893003702163696, -0.5010677576065063]}, "link_5": {"xyz": [0.349941223859787, 8.381903171539307e-08, 0.20775915682315826], "quat_xyzw": [0.49892657995224, 0.4989334046840668, -0.5010644197463989, -0.5010711550712585]}, "link_6": {"xyz": [0.310290664434433, 5.521578714251518e-07, 0.17262835800647736], "quat_xyzw": [0.7071051597595215, 0.7071052193641663, -0.0015068418579176068, -0.0015164484502747655]}, "link_left_finger": {"xyz": [0.34923163056373596, 0.0005015730857849121, 0.11196129024028778], "quat_xyzw": [0.5010643005371094, 0.49892657995224, 0.4989333152770996, -0.5010711550712585]}, "link_right_finger": {"xyz": [0.2708323895931244, -0.0004985444247722626, 0.11229647696018219], "quat_xyzw": [0.5010643005371094, 0.49892657995224, 0.4989333152770996, -0.5010711550712585]}}}, {"t": 4.882, "phase": "descend", "bottle_xyz": [0.2800000011920929, -7.31101268414136e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.361241133845397e-08, 1.673516464295588e-10, 7.318191022522968e-15, 1.0], "bottom_z": -0.00026799903006739095, "q": [-1.7232473226158618e-09, 1.7816792726516724, 1.1733555793762207, -0.9668359756469727, -1.3288376976561267e-05, -1.8951208602402403e-08, 0.03750021755695343, -0.03749977797269821], "target": [-1.3731708912306795e-12, 1.779486060142517, 1.1757742166519165, -0.9668364524841309, -2.513755046132382e-12, -1.8478870777299816e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -5.856704319739947e-06, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5498462319374084, 0.444599986076355, 0.44460001587867737, -0.5498461723327637]}, "link_3": {"xyz": [0.07526136189699173, 2.5002285838127136e-05, 0.3721514642238617], "quat_xyzw": [-0.21177396178245544, 0.6746494174003601, -0.6746494174003601, -0.21177396178245544]}, "link_4": {"xyz": [0.31059974431991577, 2.5017186999320984e-05, 0.28137218952178955], "quat_xyzw": [-0.5010896325111389, 0.49890798330307007, -0.49890801310539246, -0.5010896325111389]}, "link_5": {"xyz": [0.3497765064239502, 2.0489096641540527e-08, 0.2072005420923233], "quat_xyzw": [0.49890467524528503, 0.4989113509654999, -0.5010862946510315, -0.5010929703712463]}, "link_6": {"xyz": [0.31012287735939026, 4.80882590636611e-07, 0.17207323014736176], "quat_xyzw": [0.7071051597595215, 0.7071051597595215, -0.001537919626571238, -0.0015473454259335995]}, "link_left_finger": {"xyz": [0.34905850887298584, 0.0005015209317207336, 0.11140276491641998], "quat_xyzw": [0.5010862946510315, 0.49890467524528503, 0.4989113509654999, -0.5010929703712463]}, "link_right_finger": {"xyz": [0.27065926790237427, -0.0004985108971595764, 0.11174479126930237], "quat_xyzw": [0.5010862946510315, 0.49890467524528503, 0.4989113509654999, -0.5010929703712463]}}}, {"t": 4.902, "phase": "descend", "bottle_xyz": [0.2800000011920929, -7.68141994456073e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.699971066836952e-08, 1.7439559518717118e-10, 6.4833155391606084e-15, 1.0], "bottom_z": -0.0002679991454061087, "q": [-5.720841045331326e-08, 1.7818477153778076, 1.1715471744537354, -0.9649344682693481, -1.3121883057465311e-05, 4.954376109367331e-08, 0.037500206381082535, -0.037499669939279556], "target": [-9.602130288804966e-13, 1.7796553373336792, 1.1739659309387207, -0.9649335741996765, -1.757785865648398e-12, -1.2921663522166837e-12, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5498836636543274, 0.4445537328720093, 0.4445537328720093, -0.5498836636543274]}, "link_3": {"xyz": [0.07530481368303299, 2.5002285838127136e-05, 0.3721421957015991], "quat_xyzw": [-0.21244069933891296, 0.6744397282600403, -0.6744397282600403, -0.2124406397342682]}, "link_4": {"xyz": [0.31046319007873535, 2.5017186999320984e-05, 0.2808978855609894], "quat_xyzw": [-0.5011084675788879, 0.49888911843299866, -0.49888914823532104, -0.5011084079742432]}, "link_5": {"xyz": [0.3496343493461609, 2.7939677238464355e-08, 0.20672327280044556], "quat_xyzw": [0.4988858103752136, 0.4988924264907837, -0.5011051893234253, -0.5011117458343506]}, "link_6": {"xyz": [0.30997803807258606, 4.780013114213943e-07, 0.17159892618656158], "quat_xyzw": [0.7071050405502319, 0.7071051001548767, -0.0015646701212972403, -0.0015739764785394073]}, "link_left_finger": {"xyz": [0.3489091098308563, 0.0005015060305595398, 0.11092551052570343], "quat_xyzw": [0.5011051297187805, 0.4988858103752136, 0.4988923668861389, -0.5011117458343506]}, "link_right_finger": {"xyz": [0.27050989866256714, -0.0004984140396118164, 0.11127348989248276], "quat_xyzw": [0.5011051297187805, 0.4988858103752136, 0.4988923668861389, -0.5011117458343506]}}}, {"t": 4.922, "phase": "descend", "bottle_xyz": [0.2800000011920929, -7.483593300605662e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.458597567871038e-08, 1.8463471029850353e-10, 7.273521893016565e-15, 1.0], "bottom_z": -0.00026799906321759576, "q": [-2.4497896333741664e-07, 1.7819875478744507, 1.170051097869873, -0.9633631110191345, -1.2518295079644304e-05, 9.715596149817429e-08, 0.037500154227018356, -0.037499573081731796], "target": [-6.187745628383201e-13, 1.7797952890396118, 1.1724709272384644, -0.9633602499961853, -1.1327414700668115e-12, -8.326898740841637e-13, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 2.207221960759398e-09, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5499147772789001, 0.444515198469162, 0.44451528787612915, -0.5499147176742554]}, "link_3": {"xyz": [0.07534094899892807, 2.4985522031784058e-05, 0.37213441729545593], "quat_xyzw": [-0.21299226582050323, 0.6742658019065857, -0.6742657423019409, -0.21299231052398682]}, "link_4": {"xyz": [0.31034982204437256, 2.497062087059021e-05, 0.280505508184433], "quat_xyzw": [-0.5011245608329773, 0.4988729953765869, -0.49887293577194214, -0.5011245608329773]}, "link_5": {"xyz": [0.34951621294021606, -2.60770320892334e-08, 0.2063283771276474], "quat_xyzw": [0.49886977672576904, 0.49887606501579285, -0.5011213421821594, -0.5011277198791504]}, "link_6": {"xyz": [0.30985766649246216, 4.2958708945661783e-07, 0.17120660841464996], "quat_xyzw": [0.7071050405502319, 0.7071049213409424, -0.0015876453835517168, -0.0015966091305017471]}, "link_left_finger": {"xyz": [0.34878483414649963, 0.0005013607442378998, 0.11053068935871124], "quat_xyzw": [0.5011214017868042, 0.4988696873188019, 0.49887609481811523, -0.5011276602745056]}, "link_right_finger": {"xyz": [0.27038562297821045, -0.0004983842372894287, 0.11088372766971588], "quat_xyzw": [0.5011214017868042, 0.4988696873188019, 0.49887609481811523, -0.5011276602745056]}}}, {"t": 4.942, "phase": "descend", "bottle_xyz": [0.2800000011920929, -7.444943772583201e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.435072208432757e-08, 1.217499573380465e-10, 7.402738463186103e-15, 1.0], "bottom_z": -0.0002679990552071354, "q": [-4.023653445983655e-07, 1.7820976972579956, 1.1688753366470337, -0.9621270895004272, -1.1933656423934735e-05, 7.980641925087184e-08, 0.037500012665987015, -0.037499554455280304], "target": [-3.504446624384705e-13, 1.7799052000045776, 1.1712960004806519, -0.9621237516403198, -6.415312074972701e-13, -4.715961779075406e-13, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -5.637187427964818e-08, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5499392747879028, 0.4444848597049713, 0.444485068321228, -0.5499391555786133]}, "link_3": {"xyz": [0.07536938041448593, 2.49519944190979e-05, 0.37212833762168884], "quat_xyzw": [-0.21342569589614868, 0.6741287112236023, -0.6741285920143127, -0.21342584490776062]}, "link_4": {"xyz": [0.310260146856308, 2.4907290935516357e-05, 0.2801973223686218], "quat_xyzw": [-0.5011370182037354, 0.49886053800582886, -0.49886032938957214, -0.5011370778083801]}, "link_5": {"xyz": [0.349422812461853, -8.195638656616211e-08, 0.20601822435855865], "quat_xyzw": [0.4988574981689453, 0.4988633692264557, -0.501133918762207, -0.5011401772499084]}, "link_6": {"xyz": [0.30976247787475586, 3.513268893584609e-07, 0.1708984225988388], "quat_xyzw": [0.7071051001548767, 0.7071048617362976, -0.0016055067535489798, -0.00161408307030797]}, "link_left_finger": {"xyz": [0.3486866056919098, 0.0005011036992073059, 0.11022056639194489], "quat_xyzw": [0.5011340379714966, 0.4988572895526886, 0.4988635182380676, -0.5011399388313293]}, "link_right_finger": {"xyz": [0.2702874541282654, -0.0004984736442565918, 0.11057749390602112], "quat_xyzw": [0.5011340379714966, 0.4988572895526886, 0.4988635182380676, -0.5011399388313293]}}}, {"t": 4.962, "phase": "descend", "bottle_xyz": [0.2800000011920929, -7.635953203077861e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.621480963531212e-08, 5.748609574474095e-11, 6.940171229591688e-15, 1.0], "bottom_z": -0.0002679991186799527, "q": [-8.49614352205208e-08, 1.7821766138076782, 1.1680269241333008, -0.9612360596656799, -1.2900632100354414e-05, 1.2634642132525187e-07, 0.037499863654375076, -0.037499524652957916], "target": [-1.568127274082301e-13, 1.7799845933914185, 1.1704481840133667, -0.961231529712677, -2.870646157848017e-13, -2.110241370751123e-13, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 3.9221279735102144e-07, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5499567985534668, 0.44446325302124023, 0.4444633424282074, -0.549956738948822]}, "link_3": {"xyz": [0.07538972049951553, 2.5000423192977905e-05, 0.37212398648262024], "quat_xyzw": [-0.21373826265335083, 0.6740296483039856, -0.6740296483039856, -0.2137383073568344]}, "link_4": {"xyz": [0.3101951777935028, 2.4985522031784058e-05, 0.27997517585754395], "quat_xyzw": [-0.5011460185050964, 0.49885132908821106, -0.49885132908821106, -0.5011460185050964]}, "link_5": {"xyz": [0.34935516119003296, -1.862645149230957e-08, 0.20579467713832855], "quat_xyzw": [0.4988481402397156, 0.4988545775413513, -0.5011428594589233, -0.5011492967605591]}, "link_6": {"xyz": [0.3096935749053955, 4.3172622099518776e-07, 0.1706763207912445], "quat_xyzw": [0.7071050405502319, 0.7071049213409424, -0.0016180631937459111, -0.001627167221158743]}, "link_left_finger": {"xyz": [0.34861549735069275, 0.0005010813474655151, 0.10999703407287598], "quat_xyzw": [0.5011428594589233, 0.4988480806350708, 0.4988546073436737, -0.5011492371559143]}, "link_right_finger": {"xyz": [0.27021634578704834, -0.0004983134567737579, 0.11035682260990143], "quat_xyzw": [0.5011428594589233, 0.4988480806350708, 0.4988546073436737, -0.5011492371559143]}}}, {"t": 4.982, "phase": "descend", "bottle_xyz": [0.2800000011920929, -7.581324013017365e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.539429620033843e-08, 9.834316694323775e-11, 7.031167555598744e-15, 1.0], "bottom_z": -0.0002679990907411972, "q": [-1.2268498039702536e-07, 1.7822251319885254, 1.1675121784210205, -0.9606958627700806, -1.2769169188686647e-05, 1.2713245212125912e-07, 0.037499722093343735, -0.03749953955411911], "target": [-3.946806938345468e-14, 1.7800326347351074, 1.1699343919754028, -0.9606907963752747, -7.225106336784456e-14, -5.311249622616879e-14, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 2.804650123255925e-10, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5499675869941711, 0.44444984197616577, 0.44444993138313293, -0.5499674677848816]}, "link_3": {"xyz": [0.07540229707956314, 2.5000423192977905e-05, 0.37212124466896057], "quat_xyzw": [-0.21392808854579926, 0.6739693880081177, -0.6739693880081177, -0.2139281928539276]}, "link_4": {"xyz": [0.31015580892562866, 2.4955719709396362e-05, 0.2798401713371277], "quat_xyzw": [-0.5011517405509949, 0.49884554743766785, -0.49884551763534546, -0.5011518597602844]}, "link_5": {"xyz": [0.3493140637874603, -4.842877388000488e-08, 0.20565876364707947], "quat_xyzw": [0.4988424479961395, 0.49884870648384094, -0.5011485815048218, -0.5011550188064575]}, "link_6": {"xyz": [0.3096516728401184, 3.992754500359297e-07, 0.17054133117198944], "quat_xyzw": [0.7071050405502319, 0.7071048021316528, -0.0016262674471363425, -0.0016352453967556357]}, "link_left_finger": {"xyz": [0.3485721945762634, 0.0005008913576602936, 0.10986116528511047], "quat_xyzw": [0.5011487007141113, 0.4988422691822052, 0.4988487958908081, -0.5011548399925232]}, "link_right_finger": {"xyz": [0.270173043012619, -0.0004983656108379364, 0.11022274941205978], "quat_xyzw": [0.5011487007141113, 0.4988422691822052, 0.4988487958908081, -0.5011548399925232]}}}, {"t": 5.002, "phase": "descend", "bottle_xyz": [0.2800000011920929, -7.577986238516132e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.588575729438162e-08, 4.6962298633212995e-11, 7.052859645861453e-15, 1.0], "bottom_z": -0.00026799910747560274, "q": [-1.4635497791459784e-07, 1.7822421789169312, 1.1673378944396973, -0.9605137705802917, -1.275643353437772e-05, 1.442917465510618e-07, 0.03749961033463478, -0.037499576807022095], "target": [0.0, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 0.0, 0.0, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -5.801817692940858e-08, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.549971342086792, 0.4444451332092285, 0.44444525241851807, -0.5499712824821472]}, "link_3": {"xyz": [0.07540670782327652, 2.4985522031784058e-05, 0.37212029099464417], "quat_xyzw": [-0.2139926254749298, 0.6739490032196045, -0.6739489436149597, -0.21399268507957458]}, "link_4": {"xyz": [0.3101425766944885, 2.497062087059021e-05, 0.27979427576065063], "quat_xyzw": [-0.5011541247367859, 0.498843252658844, -0.49884316325187683, -0.5011541247367859]}, "link_5": {"xyz": [0.3493001461029053, -3.3527612686157227e-08, 0.20561251044273376], "quat_xyzw": [0.49884000420570374, 0.4988464415073395, -0.5011508464813232, -0.5011574029922485]}, "link_6": {"xyz": [0.3096373975276947, 4.281901055946946e-07, 0.17049545049667358], "quat_xyzw": [0.7071049809455872, 0.7071048617362976, -0.0016294455854222178, -0.0016386422794312239]}, "link_left_finger": {"xyz": [0.34855738282203674, 0.0005008205771446228, 0.10981492698192596], "quat_xyzw": [0.5011509656906128, 0.49883997440338135, 0.49884656071662903, -0.5011573433876038]}, "link_right_finger": {"xyz": [0.27015823125839233, -0.0004983432590961456, 0.11017723381519318], "quat_xyzw": [0.5011509656906128, 0.49883997440338135, 0.49884656071662903, -0.5011573433876038]}}}, {"t": 5.022, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.554590730762811e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.559276499729094e-08, -6.181259930987393e-13, 7.104266075430316e-15, 1.0], "bottom_z": -0.0002679990974991317, "q": [-2.049501190981573e-08, 1.782224416732788, 1.167375922203064, -0.9605095386505127, -1.2916561900055967e-05, -3.257834464420739e-07, 0.037498317658901215, -0.03749842941761017], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.037488825619220734, -0.037488825619220734], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.549967348575592, 0.4444500803947449, 0.4444500803947449, -0.549967348575592]}, "link_3": {"xyz": [0.07540211826562881, 2.5002285838127136e-05, 0.37212127447128296], "quat_xyzw": [-0.21397386491298676, 0.6739549040794373, -0.673954963684082, -0.21397380530834198]}, "link_4": {"xyz": [0.3101431429386139, 2.503208816051483e-05, 0.27980837225914], "quat_xyzw": [-0.5011391639709473, 0.498858243227005, -0.4988583028316498, -0.5011391639709473]}, "link_5": {"xyz": [0.3493051826953888, 2.7939677238464355e-08, 0.20562894642353058], "quat_xyzw": [0.4988550543785095, 0.49886149168014526, -0.5011359453201294, -0.5011423826217651]}, "link_6": {"xyz": [0.30964457988739014, 4.704343155026436e-07, 0.17050950229167938], "quat_xyzw": [0.7071048617362976, 0.7071051001548767, -0.0016082768561318517, -0.001617390546016395]}, "link_left_finger": {"xyz": [0.3485681712627411, 0.0004995949566364288, 0.109831303358078], "quat_xyzw": [0.5011358261108398, 0.4988551139831543, 0.4988614022731781, -0.5011424422264099]}, "link_right_finger": {"xyz": [0.2701689898967743, -0.0004971995949745178, 0.11018891632556915], "quat_xyzw": [0.5011358261108398, 0.4988551139831543, 0.4988614022731781, -0.5011424422264099]}}}, {"t": 5.042, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.546661073831729e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.579652023219751e-08, -6.542597019709717e-11, 7.070857401924712e-15, 1.0], "bottom_z": -0.00026799910443706804, "q": [5.251365209346659e-08, 1.782206654548645, 1.1674143075942993, -0.9604931473731995, -1.3143759133527055e-05, -4.915006570627156e-07, 0.03749076649546623, -0.037491075694561005], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03745559975504875, -0.03745559975504875], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -5.6091408850988955e-08, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499634742736816, 0.44445499777793884, 0.44445499777793884, -0.5499634146690369]}, "link_3": {"xyz": [0.07539751380681992, 2.5017186999320984e-05, 0.37212231755256653], "quat_xyzw": [-0.213954895734787, 0.6739609241485596, -0.6739609241485596, -0.2139548808336258]}, "link_4": {"xyz": [0.31014367938041687, 2.5017186999320984e-05, 0.27982261776924133], "quat_xyzw": [-0.5011210441589355, 0.4988764822483063, -0.4988764822483063, -0.5011210441589355]}, "link_5": {"xyz": [0.34931111335754395, 2.0489096641540527e-08, 0.20564603805541992], "quat_xyzw": [0.49887320399284363, 0.4988797605037689, -0.5011177659034729, -0.5011243224143982]}, "link_6": {"xyz": [0.30965304374694824, 4.7238427214324474e-07, 0.17052370309829712], "quat_xyzw": [0.7071048617362976, 0.7071052193641663, -0.0015825136797502637, -0.0015917719574645162]}, "link_left_finger": {"xyz": [0.34858107566833496, 0.0004920586943626404, 0.10984834283590317], "quat_xyzw": [0.5011176466941833, 0.4988733232021332, 0.498879611492157, -0.5011244416236877]}, "link_right_finger": {"xyz": [0.2701818346977234, -0.0004898346960544586, 0.11020024120807648], "quat_xyzw": [0.5011176466941833, 0.4988733232021332, 0.498879611492157, -0.5011244416236877]}}}, {"t": 5.062, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.533349943855683e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.574820332616582e-08, -1.4292760031064944e-10, 7.112763509957171e-15, 1.0], "bottom_z": -0.00026799910279186323, "q": [1.9096972891929909e-07, 1.7821974754333496, 1.1674346923828125, -0.960485577583313, -1.3508895790437236e-05, -6.692841907351976e-07, 0.037471868097782135, -0.03747228905558586], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03740077465772629, -0.03740077465772629], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5499613285064697, 0.4444575309753418, 0.44445744156837463, -0.5499613881111145]}, "link_3": {"xyz": [0.07539515942335129, 2.5006011128425598e-05, 0.37212276458740234], "quat_xyzw": [-0.21394498646259308, 0.6739640235900879, -0.6739640831947327, -0.21394482254981995]}, "link_4": {"xyz": [0.31014400720596313, 2.506561577320099e-05, 0.27983003854751587], "quat_xyzw": [-0.5011118650436401, 0.4988856911659241, -0.498885840177536, -0.5011117458343506]}, "link_5": {"xyz": [0.3493141829967499, 8.381903171539307e-08, 0.20565490424633026], "quat_xyzw": [0.49888232350349426, 0.4988892078399658, -0.5011084675788879, -0.5011151432991028]}, "link_6": {"xyz": [0.30965739488601685, 5.446490831673145e-07, 0.17053109407424927], "quat_xyzw": [0.7071047425270081, 0.7071053385734558, -0.0015692483866587281, -0.001578856143169105]}, "link_left_finger": {"xyz": [0.34858769178390503, 0.00047327950596809387, 0.10985717922449112], "quat_xyzw": [0.5011081695556641, 0.498882532119751, 0.49888890981674194, -0.5011153817176819]}, "link_right_finger": {"xyz": [0.27018845081329346, -0.00047096237540245056, 0.11020620912313461], "quat_xyzw": [0.5011081695556641, 0.498882532119751, 0.49888890981674194, -0.5011153817176819]}}}, {"t": 5.082, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.531657963966154e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.572297905904634e-08, -2.063638426808012e-10, 7.111268496805268e-15, 1.0], "bottom_z": -0.00026799910193296694, "q": [1.3606945969968365e-07, 1.782193899154663, 1.167443037033081, -0.9604843854904175, -1.3368610780162271e-05, -7.334688802984601e-07, 0.03743728622794151, -0.03743765875697136], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.037324801087379456, -0.037324801087379456], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5499605536460876, 0.44445857405662537, 0.4444584846496582, -0.5499606728553772]}, "link_3": {"xyz": [0.07539419084787369, 2.499110996723175e-05, 0.37212303280830383], "quat_xyzw": [-0.2139410376548767, 0.6739653944969177, -0.6739653944969177, -0.2139408141374588]}, "link_4": {"xyz": [0.3101442754268646, 2.506561577320099e-05, 0.2798330783843994], "quat_xyzw": [-0.5011085867881775, 0.4988889694213867, -0.4988890588283539, -0.5011084079742432]}, "link_5": {"xyz": [0.3493154048919678, 8.381903171539307e-08, 0.2056584656238556], "quat_xyzw": [0.4988856315612793, 0.4988924562931061, -0.5011052489280701, -0.5011118650436401]}, "link_6": {"xyz": [0.30965912342071533, 5.403999239206314e-07, 0.1705341339111328], "quat_xyzw": [0.7071047425270081, 0.7071053981781006, -0.0015646679094061255, -0.0015741923125460744]}, "link_left_finger": {"xyz": [0.3485901653766632, 0.000438690185546875, 0.10986071825027466], "quat_xyzw": [0.5011048913002014, 0.4988858699798584, 0.4988921582698822, -0.5011121034622192]}, "link_right_finger": {"xyz": [0.27019092440605164, -0.0004363544285297394, 0.11020870506763458], "quat_xyzw": [0.5011048913002014, 0.4988858699798584, 0.4988921582698822, -0.5011121034622192]}}}, {"t": 5.102, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.529930456939837e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.569693056235337e-08, -2.641168117545334e-10, 7.111503124931657e-15, 1.0], "bottom_z": -0.00026799910104600977, "q": [3.269382631287954e-08, 1.7821921110153198, 1.167447805404663, -0.960483968257904, -1.3116127774992492e-05, -8.756377383178915e-07, 0.03738345950841904, -0.03738381713628769], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03722812607884407, -0.03722812607884407], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.549960196018219, 0.4444590210914612, 0.4444590210914612, -0.549960196018219]}, "link_3": {"xyz": [0.07539372891187668, 2.5002285838127136e-05, 0.372123122215271], "quat_xyzw": [-0.21393869817256927, 0.673966109752655, -0.673966109752655, -0.2139386534690857]}, "link_4": {"xyz": [0.31014442443847656, 2.503208816051483e-05, 0.27983471751213074], "quat_xyzw": [-0.5011067390441895, 0.49889078736305237, -0.49889078736305237, -0.5011066794395447]}, "link_5": {"xyz": [0.3493160605430603, 3.5390257835388184e-08, 0.2056604027748108], "quat_xyzw": [0.4988875389099121, 0.4988941252231598, -0.5011034607887268, -0.5011100769042969]}, "link_6": {"xyz": [0.3096599876880646, 4.919857019558549e-07, 0.17053580284118652], "quat_xyzw": [0.7071048021316528, 0.7071053981781006, -0.0015622314531356096, -0.0015715621411800385]}, "link_left_finger": {"xyz": [0.3485914468765259, 0.0003847964107990265, 0.10986265540122986], "quat_xyzw": [0.5011032223701477, 0.4988877475261688, 0.4988939166069031, -0.5011102557182312]}, "link_right_finger": {"xyz": [0.2701922655105591, -0.0003825649619102478, 0.11021007597446442], "quat_xyzw": [0.5011032223701477, 0.4988877475261688, 0.4988939166069031, -0.5011102557182312]}}}, {"t": 5.122, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.52968354333916e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.5702288054581e-08, -3.2934530103112536e-10, 7.115087768364437e-15, 1.0], "bottom_z": -0.0002679991012284333, "q": [-2.7144404057821703e-08, 1.7821913957595825, 1.1674505472183228, -0.9604837894439697, -1.3006961125938687e-05, -7.642158266207844e-07, 0.037307873368263245, -0.03730814903974533], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.037111200392246246, -0.037111200392246246], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499600768089294, 0.4444591999053955, 0.4444591999053955, -0.5499600768089294]}, "link_3": {"xyz": [0.07539356499910355, 2.5002285838127136e-05, 0.3721231520175934], "quat_xyzw": [-0.21393759548664093, 0.6739664673805237, -0.6739664673805237, -0.21393753588199615]}, "link_4": {"xyz": [0.3101446032524109, 2.503208816051483e-05, 0.2798355221748352], "quat_xyzw": [-0.5011059045791626, 0.498891681432724, -0.498891681432724, -0.5011058449745178]}, "link_5": {"xyz": [0.3493165075778961, 3.5390257835388184e-08, 0.2056613266468048], "quat_xyzw": [0.49888840317726135, 0.49889498949050903, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966058373451233, 4.93499101139605e-07, 0.170536607503891], "quat_xyzw": [0.7071048021316528, 0.7071053981781006, -0.001561034587211907, -0.001570325461216271]}, "link_left_finger": {"xyz": [0.34859228134155273, 0.0003092177212238312, 0.10986358672380447], "quat_xyzw": [0.5011023879051208, 0.49888861179351807, 0.49889475107192993, -0.5011093616485596]}, "link_right_finger": {"xyz": [0.27019304037094116, -0.00030690431594848633, 0.11021076142787933], "quat_xyzw": [0.5011023879051208, 0.49888861179351807, 0.49889475107192993, -0.5011093616485596]}}}, {"t": 5.1419999999999995, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.531231638324698e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.573343824811673e-08, -3.830757933087625e-10, 7.115615469890577e-15, 1.0], "bottom_z": -0.00026799910228910567, "q": [-1.702620266996746e-07, 1.7821909189224243, 1.167451024055481, -0.960484504699707, -1.2373202480375767e-05, -1.1464489944046363e-06, 0.03720870241522789, -0.03720895200967789], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0369744747877121, -0.0369744747877121], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445928931236267, 0.44445937871932983, -0.5499598979949951]}, "link_3": {"xyz": [0.0753934308886528, 2.4985522031784058e-05, 0.3721231520175934], "quat_xyzw": [-0.2139372080564499, 0.6739665865898132, -0.6739665269851685, -0.21393723785877228]}, "link_4": {"xyz": [0.3101445138454437, 2.4985522031784058e-05, 0.2798357605934143], "quat_xyzw": [-0.5011058449745178, 0.49889180064201355, -0.4988917410373688, -0.5011058449745178]}, "link_5": {"xyz": [0.34931647777557373, -1.1175870895385742e-08, 0.2056615650653839], "quat_xyzw": [0.49888864159584045, 0.4988948106765747, -0.5011026263237, -0.5011089444160461]}, "link_6": {"xyz": [0.30966058373451233, 4.429894033819437e-07, 0.1705368459224701], "quat_xyzw": [0.7071047425270081, 0.7071054577827454, -0.001561169046908617, -0.0015699781943112612]}, "link_left_finger": {"xyz": [0.34859228134155273, 0.0002099461853504181, 0.10986384004354477], "quat_xyzw": [0.5011024475097656, 0.49888890981674194, 0.4988946318626404, -0.5011091828346252]}, "link_right_finger": {"xyz": [0.27019307017326355, -0.0002078041434288025, 0.11021097004413605], "quat_xyzw": [0.5011024475097656, 0.49888890981674194, 0.4988946318626404, -0.5011091828346252]}}}, {"t": 5.162, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.52921014424146e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.57127117165146e-08, -4.1968395425584504e-10, 7.121055115477844e-15, 1.0], "bottom_z": -0.0002679991015833577, "q": [-1.1839596680829345e-07, 1.7821909189224243, 1.167451024055481, -0.960484504699707, -1.2436764336598571e-05, -1.2311332966419286e-06, 0.03708498179912567, -0.03708525374531746], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03681840002536774, -0.03681840002536774], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445928931236267, 0.44445937871932983, -0.5499598979949951]}, "link_3": {"xyz": [0.0753934308886528, 2.4985522031784058e-05, 0.3721231520175934], "quat_xyzw": [-0.2139372080564499, 0.6739665865898132, -0.6739665269851685, -0.21393723785877228]}, "link_4": {"xyz": [0.3101445138454437, 2.4985522031784058e-05, 0.2798357605934143], "quat_xyzw": [-0.5011058449745178, 0.49889180064201355, -0.4988917410373688, -0.5011058449745178]}, "link_5": {"xyz": [0.34931647777557373, -1.1175870895385742e-08, 0.2056615650653839], "quat_xyzw": [0.49888864159584045, 0.4988948106765747, -0.5011026263237, -0.5011089444160461]}, "link_6": {"xyz": [0.30966058373451233, 4.423782229423523e-07, 0.1705368310213089], "quat_xyzw": [0.7071046829223633, 0.7071054577827454, -0.0015611540293321013, -0.0015699780778959394]}, "link_left_finger": {"xyz": [0.34859228134155273, 8.623301982879639e-05, 0.10986384749412537], "quat_xyzw": [0.5011023879051208, 0.49888890981674194, 0.498894602060318, -0.5011091828346252]}, "link_right_finger": {"xyz": [0.27019307017326355, -8.411332964897156e-05, 0.11021099239587784], "quat_xyzw": [0.5011023879051208, 0.49888890981674194, 0.498894602060318, -0.5011091828346252]}}}, {"t": 5.1819999999999995, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.529486367729987e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.571453781134551e-08, -4.5808437598715557e-10, 7.120029358578719e-15, 1.0], "bottom_z": -0.00026799910164553714, "q": [-9.962638358729237e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2494107068050653e-05, -1.349451849819161e-06, 0.03693632408976555, -0.03693663328886032], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03664342686533928, -0.03664342686533928], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445928931236267, 0.44445937871932983, -0.5499598979949951]}, "link_3": {"xyz": [0.0753934308886528, 2.4985522031784058e-05, 0.3721231520175934], "quat_xyzw": [-0.2139372080564499, 0.6739665865898132, -0.6739665269851685, -0.21393723785877228]}, "link_4": {"xyz": [0.3101445138454437, 2.4985522031784058e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059045791626, 0.49889177083969116, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931644797325134, -3.725290298461914e-09, 0.20566155016422272], "quat_xyzw": [0.49888861179351807, 0.4988948404788971, -0.5011026859283447, -0.5011090636253357]}, "link_6": {"xyz": [0.30966052412986755, 4.3185718823224306e-07, 0.1705368012189865], "quat_xyzw": [0.7071046233177185, 0.7071055173873901, -0.0015611833659932017, -0.0015700883232057095]}, "link_left_finger": {"xyz": [0.34859222173690796, -6.241723895072937e-05, 0.10986380279064178], "quat_xyzw": [0.5011023879051208, 0.49888885021209717, 0.49889451265335083, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.2701930105686188, 6.449967622756958e-05, 0.11021097004413605], "quat_xyzw": [0.5011023879051208, 0.49888885021209717, 0.49889451265335083, -0.5011093020439148]}}}, {"t": 5.202, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.529146195395242e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.571087141082899e-08, -4.946587583987139e-10, 7.120808628890193e-15, 1.0], "bottom_z": -0.0002679991015206995, "q": [-2.7636469113190287e-08, 1.7821909189224243, 1.167451024055481, -0.9604847431182861, -1.2663765119214077e-05, -1.3513699741452e-06, 0.03676293417811394, -0.0367632694542408], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03645000234246254, -0.03645000234246254], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059045791626, 0.4988917410373688, -0.498891681432724, -0.5011058449745178]}, "link_5": {"xyz": [0.34931647777557373, 1.30385160446167e-08, 0.2056615650653839], "quat_xyzw": [0.4988885223865509, 0.49889490008354187, -0.5011026859283447, -0.5011090636253357]}, "link_6": {"xyz": [0.30966055393218994, 4.5952037908136845e-07, 0.1705368161201477], "quat_xyzw": [0.7071046233177185, 0.7071055769920349, -0.0015611416893079877, -0.0015701517695561051]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.00023576617240905762, 0.10986380279064178], "quat_xyzw": [0.5011023283004761, 0.49888885021209717, 0.4988945424556732, -0.5011093616485596]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.00023789703845977783, 0.11021097749471664], "quat_xyzw": [0.5011023283004761, 0.49888885021209717, 0.4988945424556732, -0.5011093616485596]}}}, {"t": 5.2219999999999995, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.529631140812398e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.571553967660293e-08, -5.312317252759158e-10, 7.119206042553988e-15, 1.0], "bottom_z": -0.0002679991016796557, "q": [-4.421337518323298e-09, 1.7821909189224243, 1.167451024055481, -0.9604847431182861, -1.2748398148687556e-05, -1.3382874612943851e-06, 0.036565378308296204, -0.036565713584423065], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03623857721686363, -0.03623857721686363], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059045791626, 0.4988917410373688, -0.498891681432724, -0.5011058449745178]}, "link_5": {"xyz": [0.34931647777557373, 1.30385160446167e-08, 0.2056615650653839], "quat_xyzw": [0.4988885223865509, 0.49889490008354187, -0.5011026263237, -0.5011090636253357]}, "link_6": {"xyz": [0.30966055393218994, 4.657194949686527e-07, 0.1705368310213089], "quat_xyzw": [0.7071046233177185, 0.7071055173873901, -0.0015611096750944853, -0.0015701517695561051]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.0004333183169364929, 0.10986382514238358], "quat_xyzw": [0.5011023283004761, 0.4988888204097748, 0.4988945722579956, -0.5011093616485596]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.000435464084148407, 0.11021099984645844], "quat_xyzw": [0.5011023283004761, 0.4988888204097748, 0.4988945722579956, -0.5011093616485596]}}}, {"t": 5.242, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.530942092159876e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.572854260866734e-08, -5.678046921531177e-10, 7.115266492316308e-15, 1.0], "bottom_z": -0.0002679991021224057, "q": [3.818523275356256e-09, 1.7821909189224243, 1.167451024055481, -0.9604847431182861, -1.2828352737415116e-05, -1.3181154372432502e-06, 0.0363444983959198, -0.03634485602378845], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03600960224866867, -0.03600960224866867], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059045791626, 0.4988917410373688, -0.498891681432724, -0.5011058449745178]}, "link_5": {"xyz": [0.34931647777557373, 1.30385160446167e-08, 0.2056615650653839], "quat_xyzw": [0.4988884925842285, 0.49889495968818665, -0.5011026263237, -0.5011091232299805]}, "link_6": {"xyz": [0.30966055393218994, 4.609028110280633e-07, 0.1705368161201477], "quat_xyzw": [0.7071046233177185, 0.7071055173873901, -0.0015610636910423636, -0.0015702322125434875]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.0006541907787322998, 0.10986380279064178], "quat_xyzw": [0.5011022686958313, 0.49888876080513, 0.498894602060318, -0.5011094212532043]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.0006563290953636169, 0.11021099239587784], "quat_xyzw": [0.5011022686958313, 0.49888876080513, 0.498894602060318, -0.5011094212532043]}}}, {"t": 5.262, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.531539836236334e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.573976207846499e-08, -6.043776590303196e-10, 7.114578701563137e-15, 1.0], "bottom_z": -0.00026799910250443343, "q": [1.0539642936180371e-08, 1.7821909189224243, 1.167451024055481, -0.9604847431182861, -1.2851525752921589e-05, -1.2880568647233304e-06, 0.03610138222575188, -0.036101777106523514], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03576352819800377, -0.03576352819800377], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059045791626, 0.4988917410373688, -0.498891681432724, -0.5011058449745178]}, "link_5": {"xyz": [0.34931647777557373, 1.30385160446167e-08, 0.2056615650653839], "quat_xyzw": [0.4988884925842285, 0.49889495968818665, -0.5011026263237, -0.5011091232299805]}, "link_6": {"xyz": [0.30966055393218994, 4.6069908421486616e-07, 0.1705368161201477], "quat_xyzw": [0.7071046233177185, 0.7071055173873901, -0.0015610584523528814, -0.0015702322125434875]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.0008973106741905212, 0.10986380279064178], "quat_xyzw": [0.5011022686958313, 0.49888876080513, 0.498894602060318, -0.5011094212532043]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.0008994117379188538, 0.11021099239587784], "quat_xyzw": [0.5011022686958313, 0.49888876080513, 0.498894602060318, -0.5011094212532043]}}}, {"t": 5.282, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.53306128586928e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.575498190386497e-08, -6.409506259075215e-10, 7.110116531997002e-15, 1.0], "bottom_z": -0.0002679991030226786, "q": [1.657558890144628e-08, 1.7821909189224243, 1.167451024055481, -0.9604847431182861, -1.287460599996848e-05, -1.2294295856918325e-06, 0.03583720326423645, -0.03583763167262077], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03550080209970474, -0.03550080209970474], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059045791626, 0.4988917410373688, -0.498891681432724, -0.5011058449745178]}, "link_5": {"xyz": [0.34931647777557373, 1.30385160446167e-08, 0.2056615650653839], "quat_xyzw": [0.4988884925842285, 0.49889495968818665, -0.5011026263237, -0.5011091232299805]}, "link_6": {"xyz": [0.30966055393218994, 4.6030618250370026e-07, 0.1705368310213089], "quat_xyzw": [0.7071046829223633, 0.7071055173873901, -0.0015610480913892388, -0.0015702322125434875]}, "link_left_finger": {"xyz": [0.34859222173690796, -0.0011614970862865448, 0.10986378788948059], "quat_xyzw": [0.5011023283004761, 0.49888876080513, 0.49889466166496277, -0.5011094212532043]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.0011635646224021912, 0.11021098494529724], "quat_xyzw": [0.5011023283004761, 0.49888876080513, 0.49889466166496277, -0.5011094212532043]}}}, {"t": 5.302, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.531003376470835e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.573871047521607e-08, -6.775235927847234e-10, 7.116659014481594e-15, 1.0], "bottom_z": -0.00026799910246862874, "q": [1.8781777910703568e-08, 1.7821909189224243, 1.167451024055481, -0.9604847431182861, -1.2892111953988206e-05, -1.1875398513438995e-06, 0.03555323928594589, -0.03555363044142723], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.035221874713897705, -0.035221874713897705], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059045791626, 0.4988917410373688, -0.498891681432724, -0.5011058449745178]}, "link_5": {"xyz": [0.34931647777557373, 1.30385160446167e-08, 0.2056615650653839], "quat_xyzw": [0.4988884925842285, 0.49889495968818665, -0.5011026263237, -0.5011091232299805]}, "link_6": {"xyz": [0.30966055393218994, 4.600151441991329e-07, 0.1705368310213089], "quat_xyzw": [0.7071046829223633, 0.7071055173873901, -0.001561040640808642, -0.0015702322125434875]}, "link_left_finger": {"xyz": [0.34859222173690796, -0.0014454536139965057, 0.10986378788948059], "quat_xyzw": [0.5011023283004761, 0.49888876080513, 0.49889466166496277, -0.5011094212532043]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.0014475658535957336, 0.11021098494529724], "quat_xyzw": [0.5011023283004761, 0.49888876080513, 0.49889466166496277, -0.5011094212532043]}}}, {"t": 5.322, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.528690559865936e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.56993890402191e-08, -7.140965596619253e-10, 7.119532997271628e-15, 1.0], "bottom_z": -0.0002679991011297206, "q": [3.648922231036522e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2965498171979561e-05, -1.072974328053533e-06, 0.03525068610906601, -0.03525100275874138], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03492720052599907, -0.03492720052599907], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.7334469854831696e-07, 0.1705368161201477], "quat_xyzw": [0.7071047425270081, 0.7071054577827454, -0.0015610503032803535, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859222173690796, -0.00174800306558609, 0.1098637804389], "quat_xyzw": [0.5011023879051208, 0.49888867139816284, 0.49889469146728516, -0.5011094212532043]}, "link_right_finger": {"xyz": [0.2701930105686188, 0.0017502158880233765, 0.11021097004413605], "quat_xyzw": [0.5011023879051208, 0.49888867139816284, 0.49889469146728516, -0.5011094212532043]}}}, {"t": 5.342, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.534433521527717e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.576284761194984e-08, -7.506695265391272e-10, 7.104460893008185e-15, 1.0], "bottom_z": -0.000267999103290506, "q": [3.6926884661170334e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2987911759410053e-05, -1.040519464368117e-06, 0.03493071347475052, -0.034930966794490814], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03461722657084465, -0.03461722657084465], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.731118679046631e-07, 0.1705368161201477], "quat_xyzw": [0.7071047425270081, 0.7071054577827454, -0.001561044598929584, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859222173690796, -0.0020679831504821777, 0.1098637580871582], "quat_xyzw": [0.5011023283004761, 0.49888867139816284, 0.49889472126960754, -0.5011094212532043]}, "link_right_finger": {"xyz": [0.2701930105686188, 0.0020702481269836426, 0.11021098494529724], "quat_xyzw": [0.5011023283004761, 0.49888867139816284, 0.49889472126960754, -0.5011094212532043]}}}, {"t": 5.362, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.533928148006908e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.576303235306113e-08, -7.872424934163291e-10, 7.107145987450981e-15, 1.0], "bottom_z": -0.0002679991032967996, "q": [3.337566667482861e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.298381084779976e-05, -9.542084171698662e-07, 0.03459443524479866, -0.03459465131163597], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.034292399883270264, -0.034292399883270264], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.736357368528843e-07, 0.1705368161201477], "quat_xyzw": [0.7071047425270081, 0.7071053981781006, -0.0015610591508448124, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.002404250204563141, 0.1098637729883194], "quat_xyzw": [0.5011023879051208, 0.49888864159584045, 0.49889469146728516, -0.5011093616485596]}, "link_right_finger": {"xyz": [0.2701930105686188, 0.0024065598845481873, 0.11021099984645844], "quat_xyzw": [0.5011023879051208, 0.49888864159584045, 0.49889469146728516, -0.5011093616485596]}}}, {"t": 5.382, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.531484769174313e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.573804967047181e-08, -8.23815460293531e-10, 7.11385279432734e-15, 1.0], "bottom_z": -0.0002679991024461259, "q": [3.128655734485619e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2990631148568355e-05, -9.149139827968611e-07, 0.03424288332462311, -0.034243062138557434], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03395317494869232, -0.03395317494869232], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.7343201003968716e-07, 0.1705368161201477], "quat_xyzw": [0.7071048021316528, 0.7071053981781006, -0.0015610521659255028, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.0027558058500289917, 0.1098637580871582], "quat_xyzw": [0.5011023879051208, 0.49888864159584045, 0.49889475107192993, -0.5011093616485596]}, "link_right_finger": {"xyz": [0.2701930105686188, 0.0027581602334976196, 0.11021099984645844], "quat_xyzw": [0.5011023879051208, 0.49888864159584045, 0.49889475107192993, -0.5011093616485596]}}}, {"t": 5.402, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.532829471301739e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.574988020702222e-08, -8.640455018138482e-10, 7.109573583877812e-15, 1.0], "bottom_z": -0.0002679991028489634, "q": [1.4350641563964928e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.293100922339363e-05, -8.713880106370198e-07, 0.033876992762088776, -0.0338771715760231], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03360000252723694, -0.03360000252723694], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888840317726135, 0.49889490008354187, -0.5011026263237, -0.5011091232299805]}, "link_6": {"xyz": [0.30966055393218994, 4.817411536350846e-07, 0.1705368161201477], "quat_xyzw": [0.7071048021316528, 0.7071053981781006, -0.0015610868576914072, -0.0015702956588938832]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.003121688961982727, 0.1098637655377388], "quat_xyzw": [0.5011024475097656, 0.49888864159584045, 0.49889472126960754, -0.5011093616485596]}, "link_right_finger": {"xyz": [0.2701930105686188, 0.0031240656971931458, 0.11021101474761963], "quat_xyzw": [0.5011024475097656, 0.49888864159584045, 0.49889472126960754, -0.5011093616485596]}}}, {"t": 5.422, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.530677414990805e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.572724942088826e-08, -9.006190793137137e-10, 7.115172471659163e-15, 1.0], "bottom_z": -0.00026799910207837147, "q": [8.683400665177032e-09, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2920993867737707e-05, -8.475022923448705e-07, 0.03349761292338371, -0.03349779546260834], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03323332592844963, -0.03323332592844963], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888840317726135, 0.49889490008354187, -0.5011026263237, -0.5011091232299805]}, "link_6": {"xyz": [0.30966055393218994, 4.827015800401568e-07, 0.1705368161201477], "quat_xyzw": [0.7071048021316528, 0.7071053981781006, -0.0015611124690622091, -0.0015702956588938832]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.0035010650753974915, 0.1098637580871582], "quat_xyzw": [0.5011024475097656, 0.49888864159584045, 0.49889469146728516, -0.5011093616485596]}, "link_right_finger": {"xyz": [0.2701930105686188, 0.0035034269094467163, 0.11021102964878082], "quat_xyzw": [0.5011024475097656, 0.49888864159584045, 0.49889469146728516, -0.5011093616485596]}}}, {"t": 5.442, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.530807977218501e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.572834365670133e-08, -9.371921017020668e-10, 7.11459648925503e-15, 1.0], "bottom_z": -0.0002679991021156333, "q": [1.6264250390918278e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2950296877534129e-05, -8.046561674746044e-07, 0.033105455338954926, -0.03310565650463104], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03285359963774681, -0.03285359963774681], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.738103598356247e-07, 0.1705368012189865], "quat_xyzw": [0.7071048021316528, 0.7071053385734558, -0.0015610625268891454, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.003893233835697174, 0.1098637506365776], "quat_xyzw": [0.5011023879051208, 0.4988885819911957, 0.49889475107192993, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.0038955658674240112, 0.11021102964878082], "quat_xyzw": [0.5011023879051208, 0.4988885819911957, 0.49889475107192993, -0.5011093020439148]}}}, {"t": 5.462, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.530344348083418e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.572341959554251e-08, -9.737650685792687e-10, 7.115742524832665e-15, 1.0], "bottom_z": -0.00026799910194796883, "q": [9.362765673870399e-09, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2946679817105178e-05, -7.777215955684369e-07, 0.03270118683576584, -0.032701410353183746], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03246127814054489, -0.03246127814054489], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.7360663302242756e-07, 0.1705368012189865], "quat_xyzw": [0.7071048021316528, 0.7071053385734558, -0.0015610577538609505, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.004297502338886261, 0.10986374318599701], "quat_xyzw": [0.5011023879051208, 0.4988885819911957, 0.49889475107192993, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.004299812018871307, 0.11021102964878082], "quat_xyzw": [0.5011023879051208, 0.4988885819911957, 0.49889475107192993, -0.5011093020439148]}}}, {"t": 5.482, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.532002577192998e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.574533983894071e-08, -1.0103380354564706e-09, 7.11195544052549e-15, 1.0], "bottom_z": -0.0002679991026943579, "q": [1.2855802644651249e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.294192588829901e-05, -7.334780889323156e-07, 0.03228539228439331, -0.03228561580181122], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03205680102109909, -0.03205680102109909], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.7334469854831696e-07, 0.1705368161201477], "quat_xyzw": [0.7071048617362976, 0.7071053385734558, -0.001561049954034388, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.004713311791419983, 0.10986372828483582], "quat_xyzw": [0.5011024475097656, 0.4988885819911957, 0.4988947808742523, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.004715614020824432, 0.11021101474761963], "quat_xyzw": [0.5011024475097656, 0.4988885819911957, 0.4988947808742523, -0.5011093020439148]}}}, {"t": 5.502, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.528950796142908e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.570881083689528e-08, -1.0469110023336725e-09, 7.119220442114091e-15, 1.0], "bottom_z": -0.0002679991014505334, "q": [1.408703020899793e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.295015863433946e-05, -7.10697179329145e-07, 0.031858570873737335, -0.03185879439115524], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.03164062649011612, -0.03164062649011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.731991793960333e-07, 0.1705368161201477], "quat_xyzw": [0.7071048617362976, 0.7071053385734558, -0.001561045995913446, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.005140133202075958, 0.10986372828483582], "quat_xyzw": [0.5011024475097656, 0.4988885819911957, 0.4988947808742523, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.005142435431480408, 0.11021101474761963], "quat_xyzw": [0.5011024475097656, 0.4988885819911957, 0.4988947808742523, -0.5011093020439148]}}}, {"t": 5.522, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.533846435592295e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.575327660129915e-08, -1.0834839692108744e-09, 7.1040725284018686e-15, 1.0], "bottom_z": -0.000267999102964607, "q": [1.5793590435464466e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2964615962118842e-05, -6.893600925650389e-07, 0.03142120689153671, -0.03142143040895462], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.031213201582431793, -0.031213201582431793], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.730536602437496e-07, 0.1705368161201477], "quat_xyzw": [0.7071048617362976, 0.7071053385734558, -0.0015610421542078257, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.005577497184276581, 0.10986372828483582], "quat_xyzw": [0.5011024475097656, 0.4988885819911957, 0.4988947808742523, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.00557979941368103, 0.11021102964878082], "quat_xyzw": [0.5011024475097656, 0.4988885819911957, 0.4988947808742523, -0.5011093020439148]}}}, {"t": 5.542, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.53371409700776e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.575719879720054e-08, -1.1200569360880763e-09, 7.105678926386336e-15, 1.0], "bottom_z": -0.0002679991030981599, "q": [1.4764679256984437e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2951910321135074e-05, -6.68521181523829e-07, 0.030973725020885468, -0.03097395971417427], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.030774977058172226, -0.030774977058172226], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.7404319047927856e-07, 0.1705368161201477], "quat_xyzw": [0.7071048617362976, 0.7071053385734558, -0.0015610683476552367, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.006024979054927826, 0.10986371338367462], "quat_xyzw": [0.5011024475097656, 0.4988885819911957, 0.4988947808742523, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.0060272663831710815, 0.11021102964878082], "quat_xyzw": [0.5011024475097656, 0.4988885819911957, 0.4988947808742523, -0.5011093020439148]}}}, {"t": 5.562, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.53022000310466e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.572101796109564e-08, -1.1566299029652782e-09, 7.115116567484644e-15, 1.0], "bottom_z": -0.00026799910186619397, "q": [1.614582778586282e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2963304470758885e-05, -6.311249194368429e-07, 0.0305164884775877, -0.030516738072037697], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.030326401814818382, -0.030326401814818382], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.7375215217471123e-07, 0.1705368012189865], "quat_xyzw": [0.7071048617362976, 0.707105278968811, -0.0015610617119818926, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.00648222491145134, 0.10986372828483582], "quat_xyzw": [0.5011025071144104, 0.49888861179351807, 0.4988948404788971, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.006484508514404297, 0.11021105200052261], "quat_xyzw": [0.5011025071144104, 0.49888861179351807, 0.4988948404788971, -0.5011093020439148]}}}, {"t": 5.582, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.53187556767898e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.573815625188217e-08, -1.1932024257532703e-09, 7.110653550885561e-15, 1.0], "bottom_z": -0.00026799910244975494, "q": [1.4655483937531244e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2962786058778875e-05, -6.169003086142766e-07, 0.0300498865544796, -0.030050138011574745], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.029867926612496376, -0.029867926612496376], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.73664840683341e-07, 0.1705368012189865], "quat_xyzw": [0.7071048617362976, 0.707105278968811, -0.0015610592672601342, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.006948832422494888, 0.10986371338367462], "quat_xyzw": [0.5011025071144104, 0.49888861179351807, 0.4988948404788971, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.0069511085748672485, 0.11021105200052261], "quat_xyzw": [0.5011025071144104, 0.49888861179351807, 0.4988948404788971, -0.5011093020439148]}}}, {"t": 5.602, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.530080559092767e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.571915633912795e-08, -1.2297742824074476e-09, 7.115734054503192e-15, 1.0], "bottom_z": -0.00026799910180280023, "q": [1.467373866859134e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2967678230779711e-05, -6.01654051024525e-07, 0.02957426942884922, -0.029574520885944366], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.029400000348687172, -0.029400000348687172], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.735775291919708e-07, 0.1705368012189865], "quat_xyzw": [0.7071048617362976, 0.707105278968811, -0.0015610565897077322, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.007424440234899521, 0.10986369848251343], "quat_xyzw": [0.5011025071144104, 0.49888861179351807, 0.4988948404788971, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.007426723837852478, 0.11021106690168381], "quat_xyzw": [0.5011025071144104, 0.49888861179351807, 0.4988948404788971, -0.5011093020439148]}}}, {"t": 5.622, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.531971490948308e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.573868205350664e-08, -1.2663462500839273e-09, 7.110140248919525e-15, 1.0], "bottom_z": -0.0002679991024676573, "q": [1.5091316640791774e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2973701814189553e-05, -5.6787433777572e-07, 0.02909000962972641, -0.029090242460370064], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.028923075646162033, -0.028923075646162033], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.733592504635453e-07, 0.1705368161201477], "quat_xyzw": [0.7071049213409424, 0.707105278968811, -0.0015610505361109972, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.00790870189666748, 0.10986368358135223], "quat_xyzw": [0.5011025071144104, 0.4988885521888733, 0.4988948404788971, -0.50110924243927]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.007910996675491333, 0.11021105945110321], "quat_xyzw": [0.5011025071144104, 0.4988885521888733, 0.4988948404788971, -0.50110924243927]}}}, {"t": 5.6419999999999995, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.531826717865897e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.573697675094081e-08, -1.3029183287827095e-09, 7.110424004956855e-15, 1.0], "bottom_z": -0.0002679991024095926, "q": [1.559300422115939e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2980168321519159e-05, -5.553673076974519e-07, 0.02859746478497982, -0.028597693890333176], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.028437601402401924, -0.028437601402401924], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.732719389721751e-07, 0.1705368161201477], "quat_xyzw": [0.7071049213409424, 0.707105278968811, -0.0015610483242198825, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.008401244878768921, 0.10986368358135223], "quat_xyzw": [0.5011025071144104, 0.4988885521888733, 0.4988948404788971, -0.50110924243927]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.00840354710817337, 0.11021105945110321], "quat_xyzw": [0.5011025071144104, 0.4988885521888733, 0.4988948404788971, -0.50110924243927]}}}, {"t": 5.662, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.53107709527967e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.572909683200123e-08, -1.3394907405483991e-09, 7.112448413700793e-15, 1.0], "bottom_z": -0.0002679991021412795, "q": [1.4811189608110453e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.29846521303989e-05, -5.409385153143376e-07, 0.028097018599510193, -0.028097230941057205], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.02794402651488781, -0.02794402651488781], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.731846274808049e-07, 0.1705368161201477], "quat_xyzw": [0.7071049213409424, 0.707105278968811, -0.0015610458794981241, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.008901689201593399, 0.10986368358135223], "quat_xyzw": [0.5011025071144104, 0.4988885521888733, 0.4988948404788971, -0.50110924243927]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.00890401378273964, 0.1102110743522644], "quat_xyzw": [0.5011025071144104, 0.4988885521888733, 0.4988948404788971, -0.50110924243927]}}}, {"t": 5.6819999999999995, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.531172130370578e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.572990685072e-08, -1.3760627082248789e-09, 7.111996945139906e-15, 1.0], "bottom_z": -0.0002679991021688616, "q": [1.485935907652447e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2983026863366831e-05, -5.239497227194079e-07, 0.02758903056383133, -0.027589241042733192], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.027442801743745804, -0.027442801743745804], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.73068212158978e-07, 0.1705368161201477], "quat_xyzw": [0.7071049213409424, 0.707105278968811, -0.0015610428526997566, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.009409677237272263, 0.10986366868019104], "quat_xyzw": [0.5011025071144104, 0.4988885521888733, 0.4988948404788971, -0.50110924243927]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.009412003681063652, 0.1102110743522644], "quat_xyzw": [0.5011025071144104, 0.4988885521888733, 0.4988948404788971, -0.50110924243927]}}}, {"t": 5.702, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.533516033220167e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.575336186642744e-08, -1.4126346759013586e-09, 7.105335031009751e-15, 1.0], "bottom_z": -0.0002679991029675144, "q": [1.4139821757908067e-08, 1.7821909189224243, 1.167451024055481, -0.9604848027229309, -1.2979849998373538e-05, -5.097539883536228e-07, 0.027073919773101807, -0.027074115350842476], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.02693437598645687, -0.02693437598645687], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.7408684622496367e-07, 0.1705368161201477], "quat_xyzw": [0.7071049213409424, 0.707105278968811, -0.0015610700938850641, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859225153923035, -0.009924782440066338, 0.10986365377902985], "quat_xyzw": [0.5011025071144104, 0.4988885521888733, 0.4988948106765747, -0.50110924243927]}, "link_right_finger": {"xyz": [0.27019304037094116, 0.009927121922373772, 0.1102110967040062], "quat_xyzw": [0.5011025071144104, 0.4988885521888733, 0.4988948106765747, -0.50110924243927]}}}, {"t": 5.7219999999999995, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.532298340606758e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.57456595831718e-08, -1.4492065325555359e-09, 7.108452959288594e-15, 1.0], "bottom_z": -0.000267999102705245, "q": [1.1243455055875984e-08, 1.7821909189224243, 1.167451024055481, -0.9604848623275757, -1.2982984117115848e-05, -4.230547574479715e-07, 0.026552069932222366, -0.026552271097898483], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.026419201865792274, -0.026419201865792274], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.73504769615829e-07, 0.1705368012189865], "quat_xyzw": [0.7071049213409424, 0.7071052193641663, -0.0015610548434779048, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859228134155273, -0.010446643456816673, 0.10986366868019104], "quat_xyzw": [0.5011025071144104, 0.4988885223865509, 0.4988948404788971, -0.50110924243927]}, "link_right_finger": {"xyz": [0.2701930105686188, 0.010448968037962914, 0.11021111160516739], "quat_xyzw": [0.5011025071144104, 0.4988885223865509, 0.4988948404788971, -0.50110924243927]}}}, {"t": 5.742, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.533437873519233e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.575753275228635e-08, -1.485778611254318e-09, 7.1050051116767956e-15, 1.0], "bottom_z": -0.00026799910310953273, "q": [1.17288534440263e-08, 1.7821909189224243, 1.167451024055481, -0.9604848623275757, -1.2981137842871249e-05, -4.257273360508407e-07, 0.026023901998996735, -0.02602410688996315], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.02589772641658783, -0.02589772641658783], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.498891681432724, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 2.0489096641540527e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.735338734462857e-07, 0.1705368012189865], "quat_xyzw": [0.7071049213409424, 0.7071052193641663, -0.001561055309139192, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859228134155273, -0.010974809527397156, 0.10986365377902985], "quat_xyzw": [0.5011025071144104, 0.4988885223865509, 0.4988948404788971, -0.50110924243927]}, "link_right_finger": {"xyz": [0.2701930105686188, 0.010977132245898247, 0.11021111160516739], "quat_xyzw": [0.5011025071144104, 0.4988885223865509, 0.4988948404788971, -0.50110924243927]}}}, {"t": 5.762, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.531221868362081e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.572950894678797e-08, -1.5223508009754028e-09, 7.111355741198835e-15, 1.0], "bottom_z": -0.0002679991021553099, "q": [1.7759860249100257e-09, 1.7821909189224243, 1.167451024055481, -0.9604849219322205, -1.2957490980625153e-05, -4.264559265720891e-07, 0.025489844381809235, -0.025490039959549904], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.02537040039896965, -0.02537040039896965], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.4988917410373688, -0.4988916516304016, -0.5011059045791626]}, "link_5": {"xyz": [0.34931647777557373, 1.30385160446167e-08, 0.20566155016422272], "quat_xyzw": [0.49888846278190613, 0.49889495968818665, -0.5011026263237, -0.5011091828346252]}, "link_6": {"xyz": [0.30966055393218994, 4.660832928493619e-07, 0.1705368012189865], "quat_xyzw": [0.7071049213409424, 0.7071052193641663, -0.001561055425554514, -0.001570283086039126]}, "link_left_finger": {"xyz": [0.34859228134155273, -0.011508876457810402, 0.10986365377902985], "quat_xyzw": [0.5011025071144104, 0.4988885223865509, 0.4988948404788971, -0.50110924243927]}, "link_right_finger": {"xyz": [0.2701930105686188, 0.011511189863085747, 0.11021111905574799], "quat_xyzw": [0.5011025071144104, 0.4988885223865509, 0.4988948404788971, -0.50110924243927]}}}, {"t": 5.782, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.532475088112278e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.574669697556601e-08, -1.55892265762958e-09, 7.107655901285228e-15, 1.0], "bottom_z": -0.0002679991027405709, "q": [1.3304893187182643e-08, 1.7821909189224243, 1.167451024055481, -0.9604851603507996, -1.298745883104857e-05, -4.3196300225645246e-07, 0.02495032735168934, -0.02495051734149456], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.024837676435709, -0.024837676435709], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011060237884521, 0.4988916516304016, -0.49889159202575684, -0.5011059641838074]}, "link_5": {"xyz": [0.34931644797325134, 2.0489096641540527e-08, 0.20566153526306152], "quat_xyzw": [0.49888837337493896, 0.4988948702812195, -0.5011026859283447, -0.50110924243927]}, "link_6": {"xyz": [0.30966049432754517, 4.724133759737015e-07, 0.1705368012189865], "quat_xyzw": [0.7071049213409424, 0.7071052193641663, -0.0015611493727192283, -0.0015704059042036533]}, "link_left_finger": {"xyz": [0.34859219193458557, -0.012048378586769104, 0.10986362397670746], "quat_xyzw": [0.5011025667190552, 0.49888843297958374, 0.49889475107192993, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.270192950963974, 0.012050725519657135, 0.11021114140748978], "quat_xyzw": [0.5011025667190552, 0.49888843297958374, 0.49889475107192993, -0.5011093020439148]}}}, {"t": 5.802, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.531920864778385e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.57361240996579e-08, -1.5954947363283623e-09, 7.109159384766604e-15, 1.0], "bottom_z": -0.0002679991023805603, "q": [1.1541327005204494e-08, 1.7821909189224243, 1.167451024055481, -0.9604851603507996, -1.2983648048248142e-05, -3.7301282418411574e-07, 0.02440580353140831, -0.024405986070632935], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.024300001561641693, -0.024300001561641693], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011060237884521, 0.4988916516304016, -0.49889159202575684, -0.5011059641838074]}, "link_5": {"xyz": [0.34931644797325134, 2.0489096641540527e-08, 0.20566153526306152], "quat_xyzw": [0.49888837337493896, 0.4988948702812195, -0.5011026859283447, -0.50110924243927]}, "link_6": {"xyz": [0.30966049432754517, 4.7317007556557655e-07, 0.1705368012189865], "quat_xyzw": [0.7071049809455872, 0.7071051597595215, -0.0015611688140779734, -0.0015704059042036533]}, "link_left_finger": {"xyz": [0.34859219193458557, -0.012592928484082222, 0.10986363142728806], "quat_xyzw": [0.5011026859283447, 0.49888843297958374, 0.4988948404788971, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.270192950963974, 0.012595275416970253, 0.11021113395690918], "quat_xyzw": [0.5011026859283447, 0.49888843297958374, 0.4988948404788971, -0.5011093020439148]}}}, {"t": 5.822, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.533500934187032e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.575185551582763e-08, -1.632066926049447e-09, 7.104639193443582e-15, 1.0], "bottom_z": -0.0002679991029162221, "q": [1.1290405055319752e-08, 1.7821909189224243, 1.167451024055481, -0.9604851603507996, -1.2979985513084102e-05, -3.6097119959777046e-07, 0.02385670691728592, -0.02385687083005905], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.023757826536893845, -0.023757826536893845], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011060237884521, 0.4988916516304016, -0.49889159202575684, -0.5011059641838074]}, "link_5": {"xyz": [0.34931644797325134, 2.0489096641540527e-08, 0.20566153526306152], "quat_xyzw": [0.49888837337493896, 0.4988948702812195, -0.5011026859283447, -0.50110924243927]}, "link_6": {"xyz": [0.30966049432754517, 4.7308276407420635e-07, 0.1705368012189865], "quat_xyzw": [0.7071049809455872, 0.7071051597595215, -0.0015611667186021805, -0.0015704059042036533]}, "link_left_finger": {"xyz": [0.34859219193458557, -0.013142025098204613, 0.10986363142728806], "quat_xyzw": [0.5011026859283447, 0.49888843297958374, 0.4988948404788971, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.270192950963974, 0.013144392520189285, 0.11021114885807037], "quat_xyzw": [0.5011026859283447, 0.49888843297958374, 0.4988948404788971, -0.5011093020439148]}}}, {"t": 5.842, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.53294315813946e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.575140076847674e-08, -1.6686387827036242e-09, 7.105757700450431e-15, 1.0], "bottom_z": -0.0002679991029007345, "q": [9.40360589396505e-09, 1.7821909189224243, 1.167451024055481, -0.9604851603507996, -1.2985620742256287e-05, -3.4553070804577146e-07, 0.02330349013209343, -0.023303622379899025], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.02321160025894642, -0.02321160025894642], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011060237884521, 0.4988916516304016, -0.49889159202575684, -0.5011059641838074]}, "link_5": {"xyz": [0.34931644797325134, 2.0489096641540527e-08, 0.20566153526306152], "quat_xyzw": [0.49888837337493896, 0.4988948702812195, -0.5011026859283447, -0.50110924243927]}, "link_6": {"xyz": [0.30966049432754517, 4.729663487523794e-07, 0.1705368012189865], "quat_xyzw": [0.7071049809455872, 0.7071051597595215, -0.0015611640410497785, -0.0015704059042036533]}, "link_left_finger": {"xyz": [0.34859219193458557, -0.013695241883397102, 0.10986361652612686], "quat_xyzw": [0.5011026859283447, 0.49888843297958374, 0.4988948404788971, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.270192950963974, 0.013697639107704163, 0.11021114885807037], "quat_xyzw": [0.5011026859283447, 0.49888843297958374, 0.4988948404788971, -0.5011093020439148]}}}, {"t": 5.862, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.533342838428325e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.575520927754042e-08, -1.705210750380104e-09, 7.1045032446555474e-15, 1.0], "bottom_z": -0.00026799910303041546, "q": [9.051940530468983e-09, 1.7821909189224243, 1.167451024055481, -0.9604851603507996, -1.2984331988263875e-05, -3.2661648674547905e-07, 0.022746605798602104, -0.022746700793504715], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.02266177535057068, -0.02266177535057068], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011060237884521, 0.4988916516304016, -0.49889159202575684, -0.5011059641838074]}, "link_5": {"xyz": [0.34931644797325134, 2.0489096641540527e-08, 0.20566153526306152], "quat_xyzw": [0.49888837337493896, 0.4988948702812195, -0.5011026859283447, -0.50110924243927]}, "link_6": {"xyz": [0.30966049432754517, 4.728499334305525e-07, 0.1705368012189865], "quat_xyzw": [0.7071049809455872, 0.7071051597595215, -0.0015611606650054455, -0.0015704059042036533]}, "link_left_finger": {"xyz": [0.34859219193458557, -0.014252126216888428, 0.10986360907554626], "quat_xyzw": [0.5011026859283447, 0.49888843297958374, 0.4988948404788971, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.270192950963974, 0.014254564419388771, 0.11021116375923157], "quat_xyzw": [0.5011026859283447, 0.49888843297958374, 0.4988948404788971, -0.5011093020439148]}}}, {"t": 5.882, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.531915535707867e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.573040423063503e-08, -1.74021630439114e-09, 7.103657482257714e-15, 1.0], "bottom_z": -0.0002679991021857994, "q": [7.739552110308523e-09, 1.7821909189224243, 1.167451024055481, -0.9604851603507996, -1.2996581062907353e-05, -3.0655837690574117e-07, 0.02218649350106716, -0.022186564281582832], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.02210880070924759, -0.02210880070924759], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011060237884521, 0.4988916516304016, -0.49889159202575684, -0.5011059641838074]}, "link_5": {"xyz": [0.34931644797325134, 2.0489096641540527e-08, 0.20566153526306152], "quat_xyzw": [0.4988882839679718, 0.4988948702812195, -0.5011026263237, -0.50110924243927]}, "link_6": {"xyz": [0.30966049432754517, 4.840403562411666e-07, 0.1705368161201477], "quat_xyzw": [0.7071049809455872, 0.7071051597595215, -0.0015611274866387248, -0.001570469350554049]}, "link_left_finger": {"xyz": [0.3485921621322632, -0.014812193810939789, 0.10986359417438507], "quat_xyzw": [0.5011025667190552, 0.4988883435726166, 0.4988948106765747, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.2701929211616516, 0.014814697206020355, 0.11021119356155396], "quat_xyzw": [0.5011025667190552, 0.4988883435726166, 0.4988948106765747, -0.5011093020439148]}}}, {"t": 5.902, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.530814194467439e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.573105792995193e-08, -1.778394431717345e-09, 7.10080679287373e-15, 1.0], "bottom_z": -0.00026799910220805245, "q": [6.163885757359822e-08, 1.7821909189224243, 1.167451024055481, -0.9604851007461548, -1.3180921087041497e-05, -2.858558048046689e-07, 0.02162364311516285, -0.021623682230710983], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.021553125232458115, -0.021553125232458115], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011060237884521, 0.4988916516304016, -0.4988916218280792, -0.5011059641838074]}, "link_5": {"xyz": [0.34931644797325134, 2.0489096641540527e-08, 0.20566153526306152], "quat_xyzw": [0.4988882839679718, 0.49889495968818665, -0.5011026263237, -0.5011093020439148]}, "link_6": {"xyz": [0.30966049432754517, 4.878529580309987e-07, 0.1705368161201477], "quat_xyzw": [0.7071049809455872, 0.7071052193641663, -0.0015610606642439961, -0.0015704991528764367]}, "link_left_finger": {"xyz": [0.34859219193458557, -0.015375034883618355, 0.10986357927322388], "quat_xyzw": [0.5011025667190552, 0.49888837337493896, 0.4988948702812195, -0.5011093616485596]}, "link_right_finger": {"xyz": [0.270192950963974, 0.015377596020698547, 0.11021117866039276], "quat_xyzw": [0.5011025667190552, 0.49888837337493896, 0.4988948702812195, -0.5011093616485596]}}}, {"t": 5.922, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.532338308635644e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.574154554073175e-08, -1.8129313605896868e-09, 7.092253877688829e-15, 1.0], "bottom_z": -0.00026799910256516263, "q": [3.8749526254378e-08, 1.7821909189224243, 1.167451024055481, -0.9604851603507996, -1.3112025044392794e-05, -2.1378042447395273e-07, 0.02105850540101528, -0.02105850726366043], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.02099520154297352, -0.02099520154297352], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011060237884521, 0.4988916516304016, -0.49889159202575684, -0.5011059641838074]}, "link_5": {"xyz": [0.34931644797325134, 2.0489096641540527e-08, 0.20566153526306152], "quat_xyzw": [0.4988882839679718, 0.4988948702812195, -0.5011026263237, -0.50110924243927]}, "link_6": {"xyz": [0.30966049432754517, 4.834582796320319e-07, 0.1705368161201477], "quat_xyzw": [0.7071050405502319, 0.7071051597595215, -0.001561111188493669, -0.001570469350554049]}, "link_left_finger": {"xyz": [0.3485921621322632, -0.015940193086862564, 0.10986359417438507], "quat_xyzw": [0.5011026263237, 0.4988883435726166, 0.4988948702812195, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.2701929211616516, 0.01594277285039425, 0.11021120846271515], "quat_xyzw": [0.5011026263237, 0.4988883435726166, 0.4988948702812195, -0.5011093020439148]}}}, {"t": 5.942, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.531708590136077e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.573546329491364e-08, -1.8486733255329568e-09, 7.091725752646216e-15, 1.0], "bottom_z": -0.00026799910235805746, "q": [3.152396033101468e-08, 1.7821909189224243, 1.167451024055481, -0.9604851603507996, -1.3096318070893176e-05, -2.0725681793010153e-07, 0.020491527393460274, -0.020491493865847588], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.020435476675629616, -0.020435476675629616], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011060237884521, 0.4988916516304016, -0.49889159202575684, -0.5011059641838074]}, "link_5": {"xyz": [0.34931644797325134, 2.0489096641540527e-08, 0.20566153526306152], "quat_xyzw": [0.4988882839679718, 0.4988948702812195, -0.5011026263237, -0.50110924243927]}, "link_6": {"xyz": [0.30966049432754517, 4.834000719711185e-07, 0.1705368161201477], "quat_xyzw": [0.7071050405502319, 0.7071051597595215, -0.0015611100243404508, -0.001570469350554049]}, "link_left_finger": {"xyz": [0.3485921621322632, -0.016507171094417572, 0.10986357927322388], "quat_xyzw": [0.5011026263237, 0.4988883435726166, 0.4988948702812195, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.2701929211616516, 0.016509786248207092, 0.11021120846271515], "quat_xyzw": [0.5011026263237, 0.4988883435726166, 0.4988948702812195, -0.5011093020439148]}}}, {"t": 5.962, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.533154544603349e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.575950806109176e-08, -1.8837416071448843e-09, 7.0833041275681404e-15, 1.0], "bottom_z": -0.00026799910317679143, "q": [2.5985464446875994e-08, 1.7821909189224243, 1.167451024055481, -0.9604851603507996, -1.307182992604794e-05, -1.937098232929202e-07, 0.019923176616430283, -0.019923124462366104], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.01987440139055252, -0.01987440139055252], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011060237884521, 0.4988916516304016, -0.49889159202575684, -0.5011059641838074]}, "link_5": {"xyz": [0.34931644797325134, 2.0489096641540527e-08, 0.20566153526306152], "quat_xyzw": [0.4988882839679718, 0.4988948702812195, -0.5011026263237, -0.50110924243927]}, "link_6": {"xyz": [0.30966049432754517, 4.833127604797482e-07, 0.1705368161201477], "quat_xyzw": [0.7071050405502319, 0.7071051597595215, -0.0015611075796186924, -0.001570469350554049]}, "link_left_finger": {"xyz": [0.3485921621322632, -0.017075523734092712, 0.10986357927322388], "quat_xyzw": [0.5011026263237, 0.4988883435726166, 0.4988948702812195, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.2701929211616516, 0.017078153789043427, 0.11021122336387634], "quat_xyzw": [0.5011026263237, 0.4988883435726166, 0.4988948702812195, -0.5011093020439148]}}}, {"t": 5.982, "phase": "close", "bottle_xyz": [0.2800000011920929, -7.530053913740176e-09, 0.04917346313595772], "bottle_quat_xyzw": [6.572247457370395e-08, -1.9160157904707376e-09, 7.081952686500796e-15, 1.0], "bottom_z": -0.00026799910191578624, "q": [2.131289100759659e-08, 1.7821909189224243, 1.167451024055481, -0.9604851603507996, -1.3059314369456843e-05, -1.8451365235705453e-07, 0.01935390941798687, -0.0193538386374712], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.019312426447868347, -0.019312426447868347], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011060237884521, 0.4988916516304016, -0.49889159202575684, -0.5011059641838074]}, "link_5": {"xyz": [0.34931644797325134, 2.0489096641540527e-08, 0.20566153526306152], "quat_xyzw": [0.4988882839679718, 0.4988948702812195, -0.5011026263237, -0.50110924243927]}, "link_6": {"xyz": [0.30966049432754517, 4.832545528188348e-07, 0.1705368161201477], "quat_xyzw": [0.7071050405502319, 0.7071051597595215, -0.0015611060662195086, -0.001570469350554049]}, "link_left_finger": {"xyz": [0.3485921621322632, -0.017644790932536125, 0.10986356437206268], "quat_xyzw": [0.5011026263237, 0.4988883435726166, 0.4988948702812195, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.2701929211616516, 0.01764744147658348, 0.11021122336387634], "quat_xyzw": [0.5011026263237, 0.4988883435726166, 0.4988948702812195, -0.5011093020439148]}}}, {"t": 6.002, "phase": "close", "bottle_xyz": [0.2800000011920929, -4.666106390160962e-10, 0.04917346313595772], "bottle_quat_xyzw": [-7.259117751345912e-10, 2.355481587557051e-09, 1.106797586913899e-08, 1.0], "bottom_z": -0.0002679969479688557, "q": [1.63383528928307e-08, 1.7821909189224243, 1.167451024055481, -0.9604851603507996, -1.3044398656347767e-05, -1.5350376258993492e-07, 0.018784156069159508, -0.01878408156335354], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.01875000074505806, -0.01875000074505806], "finger_forces": {"link_left_finger": [-7.647397382015697e-09, -2.1341116735129617e-05, -2.9972058168681315e-09], "link_right_finger": [3.3268474908254575e-06, 0.00013278370897751302, -1.8665385681515545e-08]}, "ground_force": [4.280283974367194e-05, -5.608033461612649e-06, 0.7848418951034546], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.44445931911468506, 0.44445934891700745, -0.5499599575996399]}, "link_3": {"xyz": [0.075393445789814, 2.498738467693329e-05, 0.3721231520175934], "quat_xyzw": [-0.21393725275993347, 0.6739665865898132, -0.6739665269851685, -0.21393722295761108]}, "link_4": {"xyz": [0.3101445436477661, 2.5002285838127136e-05, 0.2798357605934143], "quat_xyzw": [-0.5011060237884521, 0.4988916516304016, -0.49889159202575684, -0.5011059641838074]}, "link_5": {"xyz": [0.34931644797325134, 2.0489096641540527e-08, 0.20566153526306152], "quat_xyzw": [0.4988882839679718, 0.4988948702812195, -0.5011026263237, -0.50110924243927]}, "link_6": {"xyz": [0.30966049432754517, 4.841858753934503e-07, 0.1705368161201477], "quat_xyzw": [0.7071050405502319, 0.7071051001548767, -0.0015611303970217705, -0.001570469350554049]}, "link_left_finger": {"xyz": [0.3485921621322632, -0.018214548006653786, 0.10986355692148209], "quat_xyzw": [0.5011026263237, 0.4988882839679718, 0.4988948702812195, -0.5011093020439148]}, "link_right_finger": {"xyz": [0.270192950963974, 0.018217191100120544, 0.11021123826503754], "quat_xyzw": [0.5011026263237, 0.4988882839679718, 0.4988948702812195, -0.5011093020439148]}}}, {"t": 6.022, "phase": "close", "bottle_xyz": [0.2800009250640869, 8.167136002157349e-06, 0.04917335510253906], "bottle_quat_xyzw": [-7.86991004133597e-05, 9.53733797359746e-06, 8.808719940134324e-06, 1.0], "bottom_z": -0.0002708029357324643, "q": [-4.628657848115836e-07, 1.7821909189224243, 1.167451024055481, -0.960485577583313, -7.647471647942439e-06, -2.6381628686067415e-06, 0.018214596435427666, -0.018214909359812737], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.018187575042247772, -0.018187575042247772], "finger_forces": {"link_left_finger": [-0.00013108464190736413, -0.0077594262547791, 0.0004769961815327406], "link_right_finger": [0.002005326561629772, 0.030903149396181107, -0.0014466247521340847]}, "ground_force": [0.00017056905198842287, -0.006403323728591204, 0.7851769924163818], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071066498756409, 0.7071070075035095]}, "link_2": {"xyz": [0.020000001415610313, 2.499297261238098e-05, 0.11400000005960464], "quat_xyzw": [0.5499600768089294, 0.4444591999053955, 0.444459468126297, -0.5499598383903503]}, "link_3": {"xyz": [0.0753934308886528, 2.4963170289993286e-05, 0.37212318181991577], "quat_xyzw": [-0.21393710374832153, 0.6739665865898132, -0.6739665269851685, -0.21393738687038422]}, "link_4": {"xyz": [0.3101445436477661, 2.4858862161636353e-05, 0.2798357605934143], "quat_xyzw": [-0.5011059641838074, 0.49889156222343445, -0.49889135360717773, -0.5011061429977417]}, "link_5": {"xyz": [0.34931638836860657, -1.5273690223693848e-07, 0.20566153526306152], "quat_xyzw": [0.49888965487480164, 0.49889326095581055, -0.5011040568351746, -0.5011081099510193]}, "link_6": {"xyz": [0.3096604347229004, 1.3296084944158792e-07, 0.1705368310213089], "quat_xyzw": [0.7071043252944946, 0.7071058750152588, -0.0015632729046046734, -0.0015686952974647284]}, "link_left_finger": {"xyz": [0.3485921025276184, -0.01878470927476883, 0.10986363887786865], "quat_xyzw": [0.5011036396026611, 0.49889010190963745, 0.4988928437232971, -0.5011085867881775]}, "link_right_finger": {"xyz": [0.27019280195236206, 0.01878560334444046, 0.11021116375923157], "quat_xyzw": [0.5011036396026611, 0.49889010190963745, 0.4988928437232971, -0.5011085867881775]}}}, {"t": 6.042, "phase": "close", "bottle_xyz": [0.28000661730766296, 0.00012041016452712938, 0.04916810244321823], "bottle_quat_xyzw": [-0.0011465685674920678, 7.060132338665426e-05, 3.862649464281276e-05, 0.9999994039535522], "bottom_z": -0.0003123158119930497, "q": [-7.905950042186305e-06, 1.7821897268295288, 1.1674526929855347, -0.9604857563972473, 5.014062480768189e-05, -2.2632126274402253e-05, 0.017653489485383034, -0.01766105368733406], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0176256000995636, -0.0176256000995636], "finger_forces": {"link_left_finger": [-0.007802620064467192, -0.2339920997619629, 0.05569785088300705], "link_right_finger": [0.002267130184918642, 0.26836085319519043, -0.06369377672672272]}, "ground_force": [0.0048639802262187, -0.054119549691677094, 0.8026543855667114], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071040272712708, 0.7071096301078796]}, "link_2": {"xyz": [0.020000001415610313, 2.4843961000442505e-05, 0.11400000005960464], "quat_xyzw": [0.5499614477157593, 0.4444575011730194, 0.444461852312088, -0.5499579310417175]}, "link_3": {"xyz": [0.07539311796426773, 2.4411827325820923e-05, 0.37212324142456055], "quat_xyzw": [-0.21393358707427979, 0.6739676594734192, -0.6739659905433655, -0.2139388471841812]}, "link_4": {"xyz": [0.3101443946361542, 2.257898449897766e-05, 0.2798365652561188], "quat_xyzw": [-0.5011034607887268, 0.4988941550254822, -0.498890221118927, -0.5011073350906372]}, "link_5": {"xyz": [0.34931647777557373, -2.723187208175659e-06, 0.20566244423389435], "quat_xyzw": [0.49890661239624023, 0.49887773394584656, -0.5011159777641296, -0.5010948181152344]}, "link_6": {"xyz": [0.3096606135368347, -4.18572744820267e-06, 0.17053762078285217], "quat_xyzw": [0.7070997953414917, 0.7071104049682617, -0.0015826665330678225, -0.00154731678776443]}, "link_left_finger": {"xyz": [0.34859272837638855, -0.01935313269495964, 0.10986565053462982], "quat_xyzw": [0.5011141300201416, 0.4989084303379059, 0.4988759160041809, -0.5010966658592224]}, "link_right_finger": {"xyz": [0.2701929211616516, 0.01933114416897297, 0.11021074652671814], "quat_xyzw": [0.5011141300201416, 0.4989084303379059, 0.4988759160041809, -0.5010966658592224]}}}, {"t": 6.062, "phase": "close", "bottle_xyz": [0.2800115942955017, 0.00013838746235705912, 0.04917370155453682], "bottle_quat_xyzw": [-0.0012758723460137844, 0.00014627132622990757, 0.00016701313143130392, 0.9999992251396179], "bottom_z": -0.00031131811132604353, "q": [-6.1950199778948445e-06, 1.7821879386901855, 1.1674566268920898, -0.960477352142334, 3.530535468598828e-05, -5.160802174941637e-06, 0.01718386448919773, -0.017202245071530342], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.017064524814486504, -0.017064524814486504], "finger_forces": {"link_left_finger": [-0.02147369459271431, -1.2169420719146729, -0.034345682710409164], "link_right_finger": [0.0001839539036154747, 1.2480978965759277, 0.03353014960885048]}, "ground_force": [0.017877904698252678, -0.019954154267907143, 0.7859340310096741], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071046233177185, 0.7071090340614319]}, "link_2": {"xyz": [0.020000001415610313, 2.4879351258277893e-05, 0.11400000005960464], "quat_xyzw": [0.5499606132507324, 0.44445839524269104, 0.4444618225097656, -0.5499578714370728]}, "link_3": {"xyz": [0.0753927156329155, 2.4536624550819397e-05, 0.3721233010292053], "quat_xyzw": [-0.21393227577209473, 0.6739681363105774, -0.6739667654037476, -0.21393640339374542]}, "link_4": {"xyz": [0.3101445138454437, 2.3106113076210022e-05, 0.2798379063606262], "quat_xyzw": [-0.5011003613471985, 0.4988972544670105, -0.4988941550254822, -0.501103401184082]}, "link_5": {"xyz": [0.34931761026382446, -2.129003405570984e-06, 0.20566433668136597], "quat_xyzw": [0.49890604615211487, 0.4988853931427002, -0.5011091828346252, -0.5010945796966553]}, "link_6": {"xyz": [0.30966222286224365, -3.1417584978044033e-06, 0.17053896188735962], "quat_xyzw": [0.7071053981781006, 0.7071047425270081, -0.0015724401455372572, -0.001547538093291223]}, "link_left_finger": {"xyz": [0.34859490394592285, -0.019821450114250183, 0.10986728966236115], "quat_xyzw": [0.5011109113693237, 0.4989043176174164, 0.49888718128204346, -0.5010928511619568]}, "link_right_finger": {"xyz": [0.27019569277763367, 0.019792526960372925, 0.11021178960800171], "quat_xyzw": [0.5011109113693237, 0.4989043176174164, 0.49888718128204346, -0.5010928511619568]}}}, {"t": 6.082, "phase": "close", "bottle_xyz": [0.2800107002258301, 0.00013789921649731696, 0.049174461513757706], "bottle_quat_xyzw": [-0.0012033989187330008, 0.0001264104212168604, 0.00016555155161768198, 0.9999992847442627], "bottom_z": -0.00030805438517189643, "q": [-8.05034414952388e-06, 1.782189130783081, 1.1674569845199585, -0.9604777693748474, 5.459040039568208e-05, -8.889319360605441e-06, 0.017006266862154007, -0.017036300152540207], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0165047999471426, -0.0165047999471426], "finger_forces": {"link_left_finger": [0.009597208350896835, -1.9141733646392822, -0.0320308543741703], "link_right_finger": [0.0225546732544899, 1.9419535398483276, 0.03017852082848549]}, "ground_force": [-0.03600691631436348, -0.026051674038171768, 0.7834436893463135], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.707103967666626, 0.7071096897125244]}, "link_2": {"xyz": [0.020000001415610313, 2.4842098355293274e-05, 0.11400000005960464], "quat_xyzw": [0.5499613285064697, 0.44445762038230896, 0.4444620609283447, -0.5499577522277832]}, "link_3": {"xyz": [0.0753929540514946, 2.4380162358283997e-05, 0.37212327122688293], "quat_xyzw": [-0.21393190324306488, 0.6739682555198669, -0.6739665269851685, -0.21393726766109467]}, "link_4": {"xyz": [0.3101447522640228, 2.251751720905304e-05, 0.2798377275466919], "quat_xyzw": [-0.5011001825332642, 0.4988974332809448, -0.4988934099674225, -0.5011041760444641]}, "link_5": {"xyz": [0.3493177890777588, -2.7921050786972046e-06, 0.20566411316394806], "quat_xyzw": [0.4989110231399536, 0.4988797903060913, -0.5011138319969177, -0.5010905265808105]}, "link_6": {"xyz": [0.3096623718738556, -4.398942110128701e-06, 0.1705387830734253], "quat_xyzw": [0.7071047425270081, 0.7071054577827454, -0.0015797121450304985, -0.001541128265671432]}, "link_left_finger": {"xyz": [0.34859499335289, -0.02000139094889164, 0.10986743867397308], "quat_xyzw": [0.5011155605316162, 0.4989092946052551, 0.4988815188407898, -0.5010887980461121]}, "link_right_finger": {"xyz": [0.27019572257995605, 0.019955961033701897, 0.11021128296852112], "quat_xyzw": [0.5011155605316162, 0.4989092946052551, 0.4988815188407898, -0.5010887980461121]}}}, {"t": 6.102, "phase": "close", "bottle_xyz": [0.2799907326698303, 0.00013964573736302555, 0.049168605357408524], "bottle_quat_xyzw": [-0.0011840719962492585, -0.00020528775348793715, -2.1266290787025355e-05, 0.9999992847442627], "bottom_z": -0.0003136189233423556, "q": [-8.521154995833058e-06, 1.7821918725967407, 1.1674432754516602, -0.9605250358581543, 5.06094002048485e-05, -1.140537096944172e-05, 0.017133114859461784, -0.017176726832985878], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.015946876257658005, -0.015946876257658005], "finger_forces": {"link_left_finger": [0.038159169256687164, -1.274909496307373, -0.03929927945137024], "link_right_finger": [0.020865533500909805, 1.28000009059906, 0.025728905573487282]}, "ground_force": [-0.0621657632291317, -0.0071126497350633144, 0.8012481331825256], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071037888526917, 0.7071098685264587]}, "link_2": {"xyz": [0.020000001415610313, 2.4830922484397888e-05, 0.11400000005960464], "quat_xyzw": [0.5499621033668518, 0.44445669651031494, 0.4444614350795746, -0.5499582290649414]}, "link_3": {"xyz": [0.0753936842083931, 2.436898648738861e-05, 0.3721230924129486], "quat_xyzw": [-0.21393723785877228, 0.6739665269851685, -0.6739646792411804, -0.21394303441047668]}, "link_4": {"xyz": [0.31014391779899597, 2.2357329726219177e-05, 0.27983367443084717], "quat_xyzw": [-0.5011159181594849, 0.49888160824775696, -0.49887725710868835, -0.5011202096939087]}, "link_5": {"xyz": [0.3493122160434723, -2.982094883918762e-06, 0.20565755665302277], "quat_xyzw": [0.49889418482780457, 0.49886465072631836, -0.5011285543441772, -0.5011075735092163]}, "link_6": {"xyz": [0.30965456366539, -4.4243206502869725e-06, 0.17053475975990295], "quat_xyzw": [0.7071040272712708, 0.7071061134338379, -0.0016008152160793543, -0.001565134502016008]}, "link_left_finger": {"xyz": [0.3485833704471588, -0.019874244928359985, 0.10986083745956421], "quat_xyzw": [0.5011299848556519, 0.49889278411865234, 0.49886608123779297, -0.5011062026023865]}, "link_right_finger": {"xyz": [0.2701840102672577, 0.019815687090158463, 0.11020985245704651], "quat_xyzw": [0.5011299848556519, 0.49889278411865234, 0.49886608123779297, -0.5011062026023865]}}}, {"t": 6.122, "phase": "close", "bottle_xyz": [0.27997562289237976, 0.0001362291950499639, 0.049164291471242905], "bottle_quat_xyzw": [-0.0011418889043852687, -0.000458314927527681, -0.00023174712259788066, 0.9999992847442627], "bottom_z": -0.00031891302037360264, "q": [-4.439811164047569e-06, 1.7821921110153198, 1.1674330234527588, -0.960554301738739, 2.430468339298386e-05, -1.3432112609734759e-05, 0.017318176105618477, -0.01737181283533573], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.01539120078086853, -0.01539120078086853], "finger_forces": {"link_left_finger": [0.022851042449474335, -0.7169230580329895, -0.040976159274578094], "link_right_finger": [0.013012129813432693, 0.7180747985839844, 0.008043026551604271]}, "ground_force": [-0.03547301143407822, -0.0017384205712005496, 0.8146616220474243], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.707105278968811, 0.7071083784103394]}, "link_2": {"xyz": [0.020000001415610313, 2.491474151611328e-05, 0.11400000005960464], "quat_xyzw": [0.5499612092971802, 0.4444577991962433, 0.4444602429866791, -0.5499592423439026]}, "link_3": {"xyz": [0.07539372891187668, 2.467632293701172e-05, 0.372123122215271], "quat_xyzw": [-0.2139422446489334, 0.6739649772644043, -0.6739640235900879, -0.2139451503753662]}, "link_4": {"xyz": [0.31014302372932434, 2.3663043975830078e-05, 0.2798312306404114], "quat_xyzw": [-0.5011269450187683, 0.4988705515861511, -0.4988684058189392, -0.5011290907859802]}, "link_5": {"xyz": [0.3493083715438843, -1.5050172805786133e-06, 0.20565354824066162], "quat_xyzw": [0.4988766014575958, 0.4988623559474945, -0.5011330246925354, -0.5011230111122131]}, "link_6": {"xyz": [0.3096493184566498, -2.197150024585426e-06, 0.17053231596946716], "quat_xyzw": [0.7071017622947693, 0.7071082592010498, -0.0016055965097621083, -0.0015884751919656992]}, "link_left_finger": {"xyz": [0.3485758304595947, -0.01968512125313282, 0.10985632240772247], "quat_xyzw": [0.5011317729949951, 0.49887779355049133, 0.4988611042499542, -0.5011242628097534]}, "link_right_finger": {"xyz": [0.2701762616634369, 0.01962415874004364, 0.11020952463150024], "quat_xyzw": [0.5011317729949951, 0.49887779355049133, 0.4988611042499542, -0.5011242628097534]}}}, {"t": 6.142, "phase": "close", "bottle_xyz": [0.2799749970436096, 0.000130713073303923, 0.04916556924581528], "bottle_quat_xyzw": [-0.0010779302101582289, -0.0005089076585136354, -0.0003659579379018396, 0.9999992847442627], "bottom_z": -0.0003162908311145976, "q": [-1.7549975837027887e-06, 1.7821903228759766, 1.1674360036849976, -0.9605467915534973, 8.146766958816443e-06, -1.5794408682268113e-05, 0.017390158027410507, -0.01744883321225643], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.014838225208222866, -0.014838225208222866], "finger_forces": {"link_left_finger": [0.0072821322828531265, -0.5717768669128418, -0.02638830617070198], "link_right_finger": [0.0016979377251118422, 0.5779281258583069, 0.005053761415183544]}, "ground_force": [-0.013389204628765583, -0.006471774075180292, 0.8105869293212891], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071062326431274, 0.707107424736023]}, "link_2": {"xyz": [0.020000001415610313, 2.496875822544098e-05, 0.11400000005960464], "quat_xyzw": [0.549960196018219, 0.4444590210914612, 0.4444599449634552, -0.5499594211578369]}, "link_3": {"xyz": [0.07539328187704086, 2.4879351258277893e-05, 0.37212321162223816], "quat_xyzw": [-0.2139415293931961, 0.6739651560783386, -0.67396479845047, -0.21394263207912445]}, "link_4": {"xyz": [0.31014296412467957, 2.4491921067237854e-05, 0.2798324525356293], "quat_xyzw": [-0.5011245608329773, 0.4988729655742645, -0.49887213110923767, -0.5011253356933594]}, "link_5": {"xyz": [0.34930920600891113, -5.718320608139038e-07, 0.2056552618741989], "quat_xyzw": [0.4988749325275421, 0.4988701343536377, -0.5011265873908997, -0.501123309135437]}, "link_6": {"xyz": [0.30965057015419006, -8.005881682038307e-07, 0.17053355276584625], "quat_xyzw": [0.707099974155426, 0.7071100473403931, -0.0015955360140651464, -0.0015898639103397727]}, "link_left_finger": {"xyz": [0.34857791662216187, -0.019610576331615448, 0.10985773056745529], "quat_xyzw": [0.5011234283447266, 0.49887815117836, 0.498867005109787, -0.5011265277862549]}, "link_right_finger": {"xyz": [0.2701781392097473, 0.019549332559108734, 0.11021057516336441], "quat_xyzw": [0.5011234283447266, 0.49887815117836, 0.498867005109787, -0.5011265277862549]}}}, {"t": 6.162, "phase": "close", "bottle_xyz": [0.27998003363609314, 0.00012500987213570625, 0.04916893690824509], "bottle_quat_xyzw": [-0.0010020656045526266, -0.00047421272029168904, -0.00041112364851869643, 0.9999992847442627], "bottom_z": -0.0003101057674233035, "q": [-1.5981901242412277e-06, 1.7821886539459229, 1.167443037033081, -0.9605278968811035, 6.522796866192948e-06, -1.6654610590194352e-05, 0.017317714169621468, -0.017378225922584534], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.014288400299847126, -0.014288400299847126], "finger_forces": {"link_left_finger": [0.0035735894925892353, -0.7336959838867188, -0.02170126512646675], "link_right_finger": [0.008284786716103554, 0.7485474944114685, 0.005268466658890247]}, "ground_force": [-0.004837424959987402, -0.012070602737367153, 0.7999891638755798], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071062922477722, 0.7071073651313782]}, "link_2": {"xyz": [0.020000001415610313, 2.497248351573944e-05, 0.11400000005960464], "quat_xyzw": [0.5499597787857056, 0.4444595277309418, 0.44446033239364624, -0.549959123134613]}, "link_3": {"xyz": [0.07539287954568863, 2.4897977709770203e-05, 0.37212327122688293], "quat_xyzw": [-0.21393872797489166, 0.673966109752655, -0.6739657521247864, -0.21393965184688568]}, "link_4": {"xyz": [0.3101434111595154, 2.4585053324699402e-05, 0.279834508895874], "quat_xyzw": [-0.5011177659034729, 0.4988798201084137, -0.498879075050354, -0.5011184215545654]}, "link_5": {"xyz": [0.3493117094039917, -4.637986421585083e-07, 0.20565839111804962], "quat_xyzw": [0.49888136982917786, 0.49887749552726746, -0.5011193752288818, -0.5011168122291565]}, "link_6": {"xyz": [0.3096540570259094, -6.388727342709899e-07, 0.1705355942249298], "quat_xyzw": [0.7070996165275574, 0.7071104645729065, -0.0015852375654503703, -0.0015806929441168904]}, "link_left_finger": {"xyz": [0.3485831022262573, -0.01968269981443882, 0.10986080765724182], "quat_xyzw": [0.5011158585548401, 0.4988848567008972, 0.4988739788532257, -0.5011202692985535]}, "link_right_finger": {"xyz": [0.2701832950115204, 0.019620133563876152, 0.1102115660905838], "quat_xyzw": [0.5011158585548401, 0.4988848567008972, 0.4988739788532257, -0.5011202692985535]}}}, {"t": 6.1819999999999995, "phase": "close", "bottle_xyz": [0.2799853980541229, 0.00012203217193018645, 0.049171462655067444], "bottle_quat_xyzw": [-0.0009385236771777272, -0.0004278400738257915, -0.00041366808000020683, 0.9999994039535522], "bottom_z": -0.000304991084286263, "q": [-3.589106199797243e-06, 1.7821887731552124, 1.167448878288269, -0.9605088829994202, 1.8087679563905112e-05, -1.7154347005998716e-05, 0.017160823568701744, -0.01722242869436741], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.01374217588454485, -0.01374217588454485], "finger_forces": {"link_left_finger": [-0.008756057359278202, -1.2013649940490723, -0.02248838171362877], "link_right_finger": [0.004285603761672974, 1.2193580865859985, 0.015701470896601677]}, "ground_force": [-0.0018950093071907759, -0.01612739823758602, 0.7920922636985779], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071055769920349, 0.7071080803871155]}, "link_2": {"xyz": [0.020000001415610313, 2.493150532245636e-05, 0.11400000005960464], "quat_xyzw": [0.549960196018219, 0.4444589614868164, 0.4444608986377716, -0.5499586462974548]}, "link_3": {"xyz": [0.07539287954568863, 2.473779022693634e-05, 0.37212327122688293], "quat_xyzw": [-0.21393604576587677, 0.6739668846130371, -0.6739661693572998, -0.21393834054470062]}, "link_4": {"xyz": [0.31014391779899597, 2.3933127522468567e-05, 0.27983590960502625], "quat_xyzw": [-0.5011110305786133, 0.49888649582862854, -0.49888482689857483, -0.501112699508667]}, "link_5": {"xyz": [0.34931403398513794, -1.2051314115524292e-06, 0.20566077530384064], "quat_xyzw": [0.4988909959793091, 0.4988803267478943, -0.5011155605316162, -0.5011081695556641]}, "link_6": {"xyz": [0.3096572756767273, -1.7145794117823243e-06, 0.17053699493408203], "quat_xyzw": [0.7071001529693604, 0.7071099877357483, -0.001580522395670414, -0.0015677767805755138]}, "link_left_finger": {"xyz": [0.3485877811908722, -0.019841430708765984, 0.10986340045928955], "quat_xyzw": [0.5011128783226013, 0.4988936483860016, 0.4988776743412018, -0.501110851764679]}, "link_right_finger": {"xyz": [0.27018803358078003, 0.019774215295910835, 0.11021173000335693], "quat_xyzw": [0.5011128783226013, 0.4988936483860016, 0.4988776743412018, -0.501110851764679]}}}, {"t": 6.202, "phase": "close", "bottle_xyz": [0.2799861431121826, 0.0001215312659041956, 0.04917201027274132], "bottle_quat_xyzw": [-0.0008901949040591717, -0.0004381225153338164, -0.00043415543041191995, 0.999999463558197], "bottom_z": -0.0003031175882368259, "q": [-5.130064437253168e-06, 1.782189130783081, 1.1674504280090332, -0.9605030417442322, 3.0729497666470706e-05, -1.7371812646160834e-05, 0.017033936455845833, -0.017097342759370804], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.013200000859797001, -0.013200000859797001], "finger_forces": {"link_left_finger": [-0.0006293542683124542, -1.7074782848358154, -0.014218781143426895], "link_right_finger": [0.005538880825042725, 1.730250597000122, 0.019889499992132187]}, "ground_force": [-0.01886131428182125, -0.021833375096321106, 0.7903304100036621], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071050405502319, 0.7071086168289185]}, "link_2": {"xyz": [0.020000001415610313, 2.4901703000068665e-05, 0.11400000005960464], "quat_xyzw": [0.5499606728553772, 0.4444584548473358, 0.44446122646331787, -0.5499584078788757]}, "link_3": {"xyz": [0.0753929540514946, 2.4633482098579407e-05, 0.37212327122688293], "quat_xyzw": [-0.21393510699272156, 0.673967182636261, -0.673966109752655, -0.21393845975399017]}, "link_4": {"xyz": [0.3101440668106079, 2.3456290364265442e-05, 0.27983617782592773], "quat_xyzw": [-0.5011089444160461, 0.49888870120048523, -0.49888619780540466, -0.5011113882064819]}, "link_5": {"xyz": [0.34931474924087524, -1.7266720533370972e-06, 0.20566129684448242], "quat_xyzw": [0.4988963007926941, 0.49887850880622864, -0.5011165738105774, -0.5011036396026611]}, "link_6": {"xyz": [0.3096582293510437, -2.6164052542299032e-06, 0.17053724825382233], "quat_xyzw": [0.7071006894111633, 0.7071094512939453, -0.0015825317241251469, -0.0015608369139954448]}, "link_left_finger": {"xyz": [0.348589152097702, -0.01997004635632038, 0.10986417531967163], "quat_xyzw": [0.5011146664619446, 0.4988981783390045, 0.4988766610622406, -0.501105546951294]}, "link_right_finger": {"xyz": [0.27018943428993225, 0.019897695630788803, 0.11021146923303604], "quat_xyzw": [0.5011146664619446, 0.4988981783390045, 0.4988766610622406, -0.501105546951294]}}}, {"t": 6.2219999999999995, "phase": "close", "bottle_xyz": [0.27997922897338867, 0.00012315627827774733, 0.04917000234127045], "bottle_quat_xyzw": [-0.0008674914133735001, -0.0005736242164857686, -0.000521000474691391, 0.9999993443489075], "bottom_z": -0.00030676251775511865, "q": [-6.265808224270586e-06, 1.7821903228759766, 1.1674457788467407, -0.9605169892311096, 3.7303598219295964e-05, -1.7320939150522463e-05, 0.017012016847729683, -0.01707831770181656], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.01266232505440712, -0.01266232505440712], "finger_forces": {"link_left_finger": [0.019808989018201828, -1.777556300163269, -0.026229310780763626], "link_right_finger": [0.018615584820508957, 1.7928117513656616, 0.014076143503189087]}, "ground_force": [-0.03915824741125107, -0.01581624336540699, 0.7965625524520874], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071046233177185, 0.7071090340614319]}, "link_2": {"xyz": [0.020000001415610313, 2.4879351258277893e-05, 0.11400000005960464], "quat_xyzw": [0.5499612092971802, 0.4444577693939209, 0.4444611966609955, -0.5499584078788757]}, "link_3": {"xyz": [0.07539329677820206, 2.4536624550819397e-05, 0.37212321162223816], "quat_xyzw": [-0.2139367163181305, 0.6739667057991028, -0.6739653944969177, -0.21394087374210358]}, "link_4": {"xyz": [0.31014394760131836, 2.3091211915016174e-05, 0.27983471751213074], "quat_xyzw": [-0.5011135339736938, 0.498883992433548, -0.49888092279434204, -0.5011166334152222]}, "link_5": {"xyz": [0.3493131399154663, -2.1513551473617554e-06, 0.20565906167030334], "quat_xyzw": [0.49889329075813293, 0.4988715946674347, -0.5011228919029236, -0.5011072754859924]}, "link_6": {"xyz": [0.30965590476989746, -3.2278767321258783e-06, 0.17053578794002533], "quat_xyzw": [0.7071011066436768, 0.7071090340614319, -0.0015918822027742863, -0.0015655282186344266]}, "link_left_finger": {"xyz": [0.3485856056213379, -0.019993027672171593, 0.1098620742559433], "quat_xyzw": [0.5011215806007385, 0.4988945722579956, 0.4988703429698944, -0.5011085867881775]}, "link_right_finger": {"xyz": [0.2701859176158905, 0.019915765151381493, 0.11021064966917038], "quat_xyzw": [0.5011215806007385, 0.4988945722579956, 0.4988703429698944, -0.5011085867881775]}}}, {"t": 6.242, "phase": "close", "bottle_xyz": [0.27996906638145447, 0.0001239074335899204, 0.04916714131832123], "bottle_quat_xyzw": [-0.0008492677006870508, -0.0007656575180590153, -0.0006433672970160842, 0.9999992251396179], "bottom_z": -0.00031308123665849813, "q": [-5.634080480376724e-06, 1.7821916341781616, 1.1674387454986572, -0.9605390429496765, 3.1946401577442884e-05, -1.7129426851170138e-05, 0.017051689326763153, -0.01712048053741455], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.012129600159823895, -0.012129600159823895], "finger_forces": {"link_left_finger": [0.024261880666017532, -1.5830399990081787, -0.03087146207690239], "link_right_finger": [0.02716628462076187, 1.590854525566101, 0.015789249911904335]}, "ground_force": [-0.040888167917728424, -0.00894414633512497, 0.8055878281593323], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071048617362976, 0.7071087956428528]}, "link_2": {"xyz": [0.020000001415610313, 2.489238977432251e-05, 0.11400000005960464], "quat_xyzw": [0.5499613285064697, 0.44445762038230896, 0.4444606602191925, -0.5499588251113892]}, "link_3": {"xyz": [0.07539362460374832, 2.4594366550445557e-05, 0.372123122215271], "quat_xyzw": [-0.21393971145153046, 0.6739657521247864, -0.6739646196365356, -0.21394343674182892]}, "link_4": {"xyz": [0.31014350056648254, 2.3312866687774658e-05, 0.27983272075653076], "quat_xyzw": [-0.5011212825775146, 0.49887627363204956, -0.4988735318183899, -0.5011240243911743]}, "link_5": {"xyz": [0.3493104577064514, -1.8998980522155762e-06, 0.20565587282180786], "quat_xyzw": [0.4988842010498047, 0.4988655149936676, -0.5011292099952698, -0.5011159777641296]}, "link_6": {"xyz": [0.309652179479599, -2.8101057978346944e-06, 0.17053379118442535], "quat_xyzw": [0.7071008682250977, 0.7071091532707214, -0.0016006474616006017, -0.0015781247057020664]}, "link_left_finger": {"xyz": [0.3485800325870514, -0.019952595233917236, 0.10985883325338364], "quat_xyzw": [0.5011276602745056, 0.4988858103752136, 0.4988640248775482, -0.5011175870895386]}, "link_right_finger": {"xyz": [0.270180344581604, 0.01987433061003685, 0.11020996421575546], "quat_xyzw": [0.5011276602745056, 0.4988858103752136, 0.4988640248775482, -0.5011175870895386]}}}, {"t": 6.262, "phase": "close", "bottle_xyz": [0.27996334433555603, 0.00012269729631952941, 0.04916585236787796], "bottle_quat_xyzw": [-0.0008173217065632343, -0.0008974423981271684, -0.0007510093273594975, 0.9999990463256836], "bottom_z": -0.00031674722968972474, "q": [-4.453048859431874e-06, 1.7821910381317139, 1.167435646057129, -0.9605492353439331, 2.391474299656693e-05, -1.703505768091418e-05, 0.01706920564174652, -0.017138728871941566], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.01160227507352829, -0.01160227507352829], "finger_forces": {"link_left_finger": [0.014796067029237747, -1.5151902437210083, -0.03433525189757347], "link_right_finger": [0.019780568778514862, 1.5253063440322876, 0.009951652958989143]}, "ground_force": [-0.029144544154405594, -0.010072770528495312, 0.809775173664093], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.707105278968811, 0.7071083784103394]}, "link_2": {"xyz": [0.020000001415610313, 2.491474151611328e-05, 0.11400000005960464], "quat_xyzw": [0.5499609112739563, 0.4444580674171448, 0.4444604814052582, -0.5499589443206787]}, "link_3": {"xyz": [0.07539349049329758, 2.466142177581787e-05, 0.3721231520175934], "quat_xyzw": [-0.21394099295139313, 0.673965334892273, -0.6739644408226013, -0.21394389867782593]}, "link_4": {"xyz": [0.3101431131362915, 2.3663043975830078e-05, 0.279832124710083], "quat_xyzw": [-0.5011247396469116, 0.4988727569580078, -0.4988705813884735, -0.5011269450187683]}, "link_5": {"xyz": [0.34930911660194397, -1.5124678611755371e-06, 0.2056547850370407], "quat_xyzw": [0.49887871742248535, 0.49886462092399597, -0.5011307597160339, -0.5011209845542908]}, "link_6": {"xyz": [0.30965036153793335, -2.184227923862636e-06, 0.1705331951379776], "quat_xyzw": [0.707100510597229, 0.7071095108985901, -0.0016023952048271894, -0.0015855187084525824]}, "link_left_finger": {"xyz": [0.34857749938964844, -0.01993391662836075, 0.10985755920410156], "quat_xyzw": [0.501128613948822, 0.4988807737827301, 0.49886247515678406, -0.5011230111122131]}, "link_right_finger": {"xyz": [0.27017778158187866, 0.019857142120599747, 0.11021004617214203], "quat_xyzw": [0.501128613948822, 0.4988807737827301, 0.49886247515678406, -0.5011230111122131]}}}, {"t": 6.282, "phase": "close", "bottle_xyz": [0.2799631953239441, 0.00012164101644884795, 0.049166396260261536], "bottle_quat_xyzw": [-0.0007805617060512304, -0.0009550053509883583, -0.0008245657663792372, 0.9999989867210388], "bottom_z": -0.00031691133441289626, "q": [-3.889078470820095e-06, 1.7821893692016602, 1.1674381494522095, -0.9605455994606018, 2.2659560272586532e-05, -1.7904778360389173e-05, 0.017034955322742462, -0.01710384339094162], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.01108080055564642, -0.01108080055564642], "finger_forces": {"link_left_finger": [0.01281130500137806, -1.6767380237579346, -0.02076893299818039], "link_right_finger": [0.015869466587901115, 1.6931462287902832, 0.015413403511047363]}, "ground_force": [-0.02315792627632618, -0.015466699376702309, 0.8081399202346802], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071054577827454, 0.707108199596405]}, "link_2": {"xyz": [0.020000001415610313, 2.4925917387008667e-05, 0.11400000005960464], "quat_xyzw": [0.5499604344367981, 0.4444587230682373, 0.44446083903312683, -0.5499587059020996]}, "link_3": {"xyz": [0.07539301365613937, 2.47173011302948e-05, 0.37212327122688293], "quat_xyzw": [-0.21393971145153046, 0.6739657521247864, -0.6739649176597595, -0.2139422595500946]}, "link_4": {"xyz": [0.31014302372932434, 2.3838132619857788e-05, 0.27983325719833374], "quat_xyzw": [-0.5011228919029236, 0.49887457489967346, -0.49887266755104065, -0.5011247992515564]}, "link_5": {"xyz": [0.3493095934391022, -1.3075768947601318e-06, 0.2056562453508377], "quat_xyzw": [0.49888020753860474, 0.4988670349121094, -0.5011285543441772, -0.5011191368103027]}, "link_6": {"xyz": [0.30965113639831543, -1.954831532202661e-06, 0.17053437232971191], "quat_xyzw": [0.7071000337600708, 0.7071100473403931, -0.0015991134569048882, -0.0015831539640203118]}, "link_left_finger": {"xyz": [0.3485787510871887, -0.019967809319496155, 0.10985898971557617], "quat_xyzw": [0.5011259317398071, 0.49888283014297485, 0.49886447191238403, -0.5011217594146729]}, "link_right_finger": {"xyz": [0.27017897367477417, 0.01989228092133999, 0.11021091043949127], "quat_xyzw": [0.5011259317398071, 0.49888283014297485, 0.49886447191238403, -0.5011217594146729]}}}, {"t": 6.302, "phase": "close", "bottle_xyz": [0.2799638509750366, 0.0001216173914144747, 0.04916677623987198], "bottle_quat_xyzw": [-0.0007494222372770309, -0.0010017763124778867, -0.0008847695426084101, 0.9999988675117493], "bottom_z": -0.00031708380894276966, "q": [-4.468312454264378e-06, 1.7821886539459229, 1.1674405336380005, -0.9605402946472168, 2.619200495246332e-05, -1.7873902834253386e-05, 0.016979699954390526, -0.01704774796962738], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.010565625503659248, -0.010565625503659248], "finger_forces": {"link_left_finger": [0.0015345774590969086, -1.9552764892578125, -0.026582039892673492], "link_right_finger": [0.007337906397879124, 1.9699102640151978, 0.01686032861471176]}, "ground_force": [-0.027892520651221275, -0.013800106942653656, 0.8070105910301208], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071052193641663, 0.7071084380149841]}, "link_2": {"xyz": [0.020000001415610313, 2.491287887096405e-05, 0.11400000005960464], "quat_xyzw": [0.5499604940414429, 0.4444586932659149, 0.4444611966609955, -0.5499584078788757]}, "link_3": {"xyz": [0.07539286464452744, 2.4674460291862488e-05, 0.3721233010292053], "quat_xyzw": [-0.21393844485282898, 0.673966109752655, -0.6739651560783386, -0.21394148468971252]}, "link_4": {"xyz": [0.3101431131362915, 2.3616477847099304e-05, 0.27983400225639343], "quat_xyzw": [-0.5011206269264221, 0.4988768696784973, -0.49887460470199585, -0.5011228919029236]}, "link_5": {"xyz": [0.3493103086948395, -1.559033989906311e-06, 0.20565730333328247], "quat_xyzw": [0.4988833963871002, 0.49886807799339294, -0.5011271834373474, -0.5011163353919983]}, "link_6": {"xyz": [0.3096521496772766, -2.3033935576677322e-06, 0.17053508758544922], "quat_xyzw": [0.7071002721786499, 0.7071097493171692, -0.001597416470758617, -0.0015789319295436144]}, "link_left_finger": {"xyz": [0.3485802412033081, -0.020023660734295845, 0.1098601371049881], "quat_xyzw": [0.5011249780654907, 0.4988856613636017, 0.49886587262153625, -0.5011186003684998]}, "link_right_finger": {"xyz": [0.27018049359321594, 0.019947843626141548, 0.11021124571561813], "quat_xyzw": [0.5011249780654907, 0.4988856613636017, 0.49886587262153625, -0.5011186003684998]}}}, {"t": 6.322, "phase": "close", "bottle_xyz": [0.2799616754055023, 0.0001223596918862313, 0.04916626587510109], "bottle_quat_xyzw": [-0.0007259540143422782, -0.001093170722015202, -0.0009632657747715712, 0.9999987483024597], "bottom_z": -0.00031970648330192225, "q": [-5.205429260968231e-06, 1.7821882963180542, 1.1674405336380005, -0.9605433940887451, 2.9736218493781053e-05, -1.7573142031324096e-05, 0.016947144642472267, -0.01701461710035801], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.01005720067769289, -0.01005720067769289], "finger_forces": {"link_left_finger": [0.0014206841588020325, -2.1234400272369385, -0.03704368323087692], "link_right_finger": [0.010680489242076874, 2.1367063522338867, 0.011074600741267204]}, "ground_force": [-0.03718964755535126, -0.01448631752282381, 0.8087657690048218], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071049809455872, 0.7071086764335632]}, "link_2": {"xyz": [0.020000003278255463, 2.4899840354919434e-05, 0.11400000005960464], "quat_xyzw": [0.5499604940414429, 0.44445860385894775, 0.444461464881897, -0.5499581694602966]}, "link_3": {"xyz": [0.07539277523756027, 2.4616718292236328e-05, 0.37212327122688293], "quat_xyzw": [-0.21393811702728271, 0.6739662289619446, -0.6739651560783386, -0.2139415591955185]}, "link_4": {"xyz": [0.3101430833339691, 2.3424625396728516e-05, 0.2798340618610382], "quat_xyzw": [-0.5011211633682251, 0.49887630343437195, -0.498873770236969, -0.5011237263679504]}, "link_5": {"xyz": [0.3493100702762604, -1.780688762664795e-06, 0.2056572586297989], "quat_xyzw": [0.49888375401496887, 0.49886634945869446, -0.5011286735534668, -0.5011162757873535]}, "link_6": {"xyz": [0.30965179204940796, -2.634769771248102e-06, 0.1705351322889328], "quat_xyzw": [0.7071005702018738, 0.7071094512939453, -0.0015996883157640696, -0.001578619470819831]}, "link_left_finger": {"xyz": [0.3485797345638275, -0.020056791603565216, 0.1098601445555687], "quat_xyzw": [0.5011267066001892, 0.4988856017589569, 0.49886444211006165, -0.5011181235313416]}, "link_right_finger": {"xyz": [0.27018001675605774, 0.01998044364154339, 0.1102113425731659], "quat_xyzw": [0.5011267066001892, 0.4988856017589569, 0.49886444211006165, -0.5011181235313416]}}}, {"t": 6.342, "phase": "close", "bottle_xyz": [0.279957115650177, 0.00012337020598351955, 0.04916504770517349], "bottle_quat_xyzw": [-0.0007087678532116115, -0.0012240667128935456, -0.0010600892128422856, 0.9999985098838806], "bottom_z": -0.0003243511246962816, "q": [-5.400169357017148e-06, 1.7821881771087646, 1.1674387454986572, -0.9605517983436584, 2.9963817723910324e-05, -1.7444954210077412e-05, 0.0169429462403059, -0.017010049894452095], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.00955597497522831, -0.00955597497522831], "finger_forces": {"link_left_finger": [0.026347298175096512, -2.139657497406006, -0.03147231414914131], "link_right_finger": [0.02979305200278759, 2.1509594917297363, 0.015209333971142769]}, "ground_force": [-0.04182816296815872, -0.011752637103199959, 0.8128573298454285], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071049213409424, 0.707108736038208]}, "link_2": {"xyz": [0.020000001415610313, 2.489425241947174e-05, 0.11400000005960464], "quat_xyzw": [0.5499605536460876, 0.44445857405662537, 0.44446155428886414, -0.5499581098556519]}, "link_3": {"xyz": [0.07539274543523788, 2.4596229195594788e-05, 0.3721233308315277], "quat_xyzw": [-0.2139386087656021, 0.6739660501480103, -0.6739649176597595, -0.2139422446489334]}, "link_4": {"xyz": [0.3101428747177124, 2.3329630494117737e-05, 0.27983370423316956], "quat_xyzw": [-0.5011236667633057, 0.49887382984161377, -0.4988711476325989, -0.5011263489723206]}, "link_5": {"xyz": [0.34930911660194397, -1.8756836652755737e-06, 0.205656498670578], "quat_xyzw": [0.4988812804222107, 0.4988636374473572, -0.5011311173439026, -0.5011187791824341]}, "link_6": {"xyz": [0.3096504807472229, -2.718981704674661e-06, 0.17053481936454773], "quat_xyzw": [0.7071006894111633, 0.7071093320846558, -0.001603342010639608, -0.0015821866691112518]}, "link_left_finger": {"xyz": [0.3485777974128723, -0.020061098039150238, 0.1098594218492508], "quat_xyzw": [0.5011293888092041, 0.4988830089569092, 0.4988619387149811, -0.5011205673217773]}, "link_right_finger": {"xyz": [0.27017807960510254, 0.019984936341643333, 0.11021140217781067], "quat_xyzw": [0.5011293888092041, 0.4988830089569092, 0.4988619387149811, -0.5011205673217773]}}}, {"t": 6.362, "phase": "close", "bottle_xyz": [0.2799531817436218, 0.00012383554712869227, 0.04916394501924515], "bottle_quat_xyzw": [-0.0006896019913256168, -0.001350796315819025, -0.0011545768938958645, 0.9999982118606567], "bottom_z": -0.0003289193402226595, "q": [-5.169290488993283e-06, 1.7821882963180542, 1.167436957359314, -0.9605576395988464, 2.7654599762172438e-05, -1.7117334209615365e-05, 0.01694079115986824, -0.0170072503387928], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.009062400087714195, -0.009062400087714195], "finger_forces": {"link_left_finger": [0.016075018793344498, -2.155078411102295, -0.046306151896715164], "link_right_finger": [0.023116089403629303, 2.1664445400238037, 0.0038885241374373436]}, "ground_force": [-0.03819883242249489, -0.011168614961206913, 0.8166368007659912], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071049809455872, 0.7071086764335632]}, "link_2": {"xyz": [0.020000003278255463, 2.4899840354919434e-05, 0.11400000005960464], "quat_xyzw": [0.5499604940414429, 0.44445860385894775, 0.444461464881897, -0.5499581694602966]}, "link_3": {"xyz": [0.07539277523756027, 2.4616718292236328e-05, 0.37212327122688293], "quat_xyzw": [-0.2139393389225006, 0.6739658713340759, -0.67396479845047, -0.21394279599189758]}, "link_4": {"xyz": [0.31014278531074524, 2.3424625396728516e-05, 0.27983319759368896], "quat_xyzw": [-0.5011255741119385, 0.4988718330860138, -0.49886927008628845, -0.5011281371116638]}, "link_5": {"xyz": [0.34930843114852905, -1.780688762664795e-06, 0.20565570890903473], "quat_xyzw": [0.49887874722480774, 0.4988624155521393, -0.5011325478553772, -0.5011212825775146]}, "link_6": {"xyz": [0.3096495270729065, -2.561253495514393e-06, 0.17053429782390594], "quat_xyzw": [0.7071007490158081, 0.707109272480011, -0.0016052208375185728, -0.0015857360558584332]}, "link_left_finger": {"xyz": [0.3485763669013977, -0.02006295882165432, 0.10985855758190155], "quat_xyzw": [0.5011307597160339, 0.49888044595718384, 0.4988606572151184, -0.5011230111122131]}, "link_right_finger": {"xyz": [0.2701766788959503, 0.01998804695904255, 0.11021125316619873], "quat_xyzw": [0.5011307597160339, 0.49888044595718384, 0.4988606572151184, -0.5011230111122131]}}}, {"t": 6.382, "phase": "close", "bottle_xyz": [0.2799511253833771, 0.00012402850552462041, 0.04916362464427948], "bottle_quat_xyzw": [-0.0006678570061922073, -0.001451892196200788, -0.0012410238850861788, 0.9999980330467224], "bottom_z": -0.00033196207313154064, "q": [-4.665990218200022e-06, 1.7821882963180542, 1.167436957359314, -0.9605591893196106, 2.549457894929219e-05, -1.7106835002778098e-05, 0.016923826187849045, -0.01698923297226429], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.008576924912631512, -0.008576924912631512], "finger_forces": {"link_left_finger": [0.014529336243867874, -2.261335849761963, -0.04286530613899231], "link_right_finger": [0.025111177936196327, 2.274045944213867, -0.0002692323178052902]}, "ground_force": [-0.0362803116440773, -0.01284876000136137, 0.8179160356521606], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071051597595215, 0.7071084976196289]}, "link_2": {"xyz": [0.020000001415610313, 2.490915358066559e-05, 0.11400000005960464], "quat_xyzw": [0.5499603748321533, 0.4444587230682373, 0.4444613456726074, -0.5499582886695862]}, "link_3": {"xyz": [0.07539277523756027, 2.4626031517982483e-05, 0.3721233010292053], "quat_xyzw": [-0.21393948793411255, 0.6739658117294312, -0.67396479845047, -0.21394261717796326]}, "link_4": {"xyz": [0.31014275550842285, 2.3538246750831604e-05, 0.27983325719833374], "quat_xyzw": [-0.5011261105537415, 0.4988713562488556, -0.49886903166770935, -0.5011284351348877]}, "link_5": {"xyz": [0.3493083119392395, -1.644715666770935e-06, 0.20565569400787354], "quat_xyzw": [0.49887770414352417, 0.49886268377304077, -0.5011324882507324, -0.5011220574378967]}, "link_6": {"xyz": [0.30964937806129456, -2.3655593395233154e-06, 0.17053434252738953], "quat_xyzw": [0.7071005702018738, 0.7071094512939453, -0.0016049696132540703, -0.001587039907462895]}, "link_left_finger": {"xyz": [0.3485761284828186, -0.02007957361638546, 0.10985849797725677], "quat_xyzw": [0.5011304616928101, 0.49887964129447937, 0.4988606870174408, -0.5011240839958191]}, "link_right_finger": {"xyz": [0.27017641067504883, 0.020006369799375534, 0.11021139472723007], "quat_xyzw": [0.5011304616928101, 0.49887964129447937, 0.4988606870174408, -0.5011240839958191]}}}, {"t": 6.402, "phase": "close", "bottle_xyz": [0.27994951605796814, 0.00012441778380889446, 0.049163300544023514], "bottle_quat_xyzw": [-0.0006469732616096735, -0.0015464460011571646, -0.0013221199624240398, 0.9999977946281433], "bottom_z": -0.0003349608973709575, "q": [-4.837146207137266e-06, 1.7821881771087646, 1.167436957359314, -0.9605594873428345, 2.5952625946956687e-05, -1.6734644304960966e-05, 0.016899755224585533, -0.016963955014944077], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.008100000210106373, -0.008100000210106373], "finger_forces": {"link_left_finger": [0.019997499883174896, -2.4115183353424072, -0.0405464693903923], "link_right_finger": [0.016759175807237625, 2.4238505363464355, 0.013022596016526222]}, "ground_force": [-0.03791969269514084, -0.012435048818588257, 0.8192092180252075], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071051001548767, 0.7071085572242737]}, "link_2": {"xyz": [0.020000001415610313, 2.4905428290367126e-05, 0.11400000005960464], "quat_xyzw": [0.5499604344367981, 0.4444587230682373, 0.4444614052772522, -0.5499582290649414]}, "link_3": {"xyz": [0.07539274543523788, 2.463720738887787e-05, 0.3721233308315277], "quat_xyzw": [-0.21393939852714539, 0.6739658117294312, -0.67396479845047, -0.21394266188144684]}, "link_4": {"xyz": [0.31014272570610046, 2.3504719138145447e-05, 0.27983328700065613], "quat_xyzw": [-0.5011261105537415, 0.4988713264465332, -0.4988689422607422, -0.5011285543441772]}, "link_5": {"xyz": [0.3493082523345947, -1.6856938600540161e-06, 0.20565572381019592], "quat_xyzw": [0.4988778233528137, 0.49886244535446167, -0.5011326670646667, -0.501121997833252]}, "link_6": {"xyz": [0.3096493184566498, -2.4177570594474673e-06, 0.1705343872308731], "quat_xyzw": [0.7071007490158081, 0.707109272480011, -0.0016052813734859228, -0.0015868662158027291]}, "link_left_finger": {"xyz": [0.34857606887817383, -0.020103761926293373, 0.10985855013132095], "quat_xyzw": [0.5011308193206787, 0.49887964129447937, 0.49886059761047363, -0.50112384557724]}, "link_right_finger": {"xyz": [0.27017635107040405, 0.020031578838825226, 0.11021143198013306], "quat_xyzw": [0.5011308193206787, 0.49887964129447937, 0.49886059761047363, -0.50112384557724]}}}, {"t": 6.422, "phase": "close", "bottle_xyz": [0.2799472212791443, 0.00012554562999866903, 0.049162913113832474], "bottle_quat_xyzw": [-0.0006319746607914567, -0.0016551591688767076, -0.0014071498299017549, 0.9999974966049194], "bottom_z": -0.0003385376510330121, "q": [-4.4790053834731225e-06, 1.7821873426437378, 1.1674370765686035, -0.9605628252029419, 2.5680390535853803e-05, -1.6934693121584132e-05, 0.016882503405213356, -0.01694548688828945], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.007632075343281031, -0.007632075343281031], "finger_forces": {"link_left_finger": [0.025699585676193237, -2.5188145637512207, -0.0390198715031147], "link_right_finger": [0.03130347281694412, 2.5317912101745605, 0.0023935027420520782]}, "ground_force": [-0.04310421645641327, -0.012165267020463943, 0.8207899928092957], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071052193641663, 0.7071084380149841]}, "link_2": {"xyz": [0.020000001415610313, 2.491287887096405e-05, 0.11400000005960464], "quat_xyzw": [0.5499601364135742, 0.44445905089378357, 0.44446155428886414, -0.5499581098556519]}, "link_3": {"xyz": [0.07539252191781998, 2.465955913066864e-05, 0.3721233308315277], "quat_xyzw": [-0.21393920481204987, 0.6739658713340759, -0.6739649176597595, -0.21394219994544983]}, "link_4": {"xyz": [0.3101425766944885, 2.3616477847099304e-05, 0.27983352541923523], "quat_xyzw": [-0.5011268258094788, 0.4988706111907959, -0.4988684356212616, -0.5011290311813354]}, "link_5": {"xyz": [0.34930792450904846, -1.5515834093093872e-06, 0.20565587282180786], "quat_xyzw": [0.49887701869010925, 0.49886202812194824, -0.5011332631111145, -0.5011225938796997]}, "link_6": {"xyz": [0.30964890122413635, -2.2801541490480304e-06, 0.1705346554517746], "quat_xyzw": [0.7071005702018738, 0.7071094512939453, -0.0016059993067756295, -0.0015878824051469564]}, "link_left_finger": {"xyz": [0.34857550263404846, -0.020120829343795776, 0.10985870659351349], "quat_xyzw": [0.5011311769485474, 0.4988790452480316, 0.4988599717617035, -0.5011246800422668]}, "link_right_finger": {"xyz": [0.2701757848262787, 0.020050184801220894, 0.1102117970585823], "quat_xyzw": [0.5011311769485474, 0.4988790452480316, 0.4988599717617035, -0.5011246800422668]}}}, {"t": 6.442, "phase": "close", "bottle_xyz": [0.27994459867477417, 0.00012663360394071788, 0.04916229099035263], "bottle_quat_xyzw": [-0.0006184568046592176, -0.0017741589108482003, -0.0014971626223996282, 0.9999971389770508], "bottom_z": -0.00034274619603701095, "q": [-4.3002601159969345e-06, 1.7821868658065796, 1.1674370765686035, -0.9605669379234314, 2.478823807905428e-05, -1.690580575086642e-05, 0.016873156651854515, -0.01693488098680973], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.007173600140959024, -0.007173600140959024], "finger_forces": {"link_left_finger": [0.01453639566898346, -2.5809755325317383, -0.041140343993902206], "link_right_finger": [0.02419392764568329, 2.5917582511901855, 0.009095956571400166]}, "ground_force": [-0.04475559666752815, -0.011878677643835545, 0.8231795430183411], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.707105278968811, 0.7071083784103394]}, "link_2": {"xyz": [0.020000001415610313, 2.491474151611328e-05, 0.11400000005960464], "quat_xyzw": [0.5499599575996399, 0.4444592297077179, 0.4444616138935089, -0.5499580502510071]}, "link_3": {"xyz": [0.07539240270853043, 2.467632293701172e-05, 0.3721233606338501], "quat_xyzw": [-0.2139391303062439, 0.6739659309387207, -0.6739650368690491, -0.21394197642803192]}, "link_4": {"xyz": [0.31014254689216614, 2.3692846298217773e-05, 0.2798336446285248], "quat_xyzw": [-0.5011277198791504, 0.4988696575164795, -0.49886754155158997, -0.5011298656463623]}, "link_5": {"xyz": [0.3493076264858246, -1.4826655387878418e-06, 0.20565584301948547], "quat_xyzw": [0.4988758862018585, 0.4988613724708557, -0.5011340379714966, -0.5011236667633057]}, "link_6": {"xyz": [0.30964845418930054, -2.2036838345229626e-06, 0.17053477466106415], "quat_xyzw": [0.707100510597229, 0.7071095705032349, -0.0016069941921159625, -0.001589458086527884]}, "link_left_finger": {"xyz": [0.34857481718063354, -0.02013004757463932, 0.10985866189002991], "quat_xyzw": [0.5011318325996399, 0.49887803196907043, 0.4988592267036438, -0.5011258721351624]}, "link_right_finger": {"xyz": [0.27017512917518616, 0.020060911774635315, 0.1102120578289032], "quat_xyzw": [0.5011318325996399, 0.49887803196907043, 0.4988592267036438, -0.5011258721351624]}}}, {"t": 6.462, "phase": "close", "bottle_xyz": [0.2799420952796936, 0.000127517749206163, 0.0491616353392601], "bottle_quat_xyzw": [-0.0006036093691363931, -0.0018919490976259112, -0.0015873049851506948, 0.9999968409538269], "bottom_z": -0.00034704986316118347, "q": [-3.862107405439019e-06, 1.78218674659729, 1.1674368381500244, -0.9605708718299866, 2.3063557819114067e-05, -1.7024478438543156e-05, 0.01686377450823784, -0.016924111172556877], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.006725025363266468, -0.006725025363266468], "finger_forces": {"link_left_finger": [0.01695791631937027, -2.6473965644836426, -0.04814671725034714], "link_right_finger": [0.02055848203599453, 2.6592936515808105, 0.004352647811174393]}, "ground_force": [-0.04495026916265488, -0.011995837092399597, 0.8257020115852356], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071054577827454, 0.707108199596405]}, "link_2": {"xyz": [0.020000001415610313, 2.4925917387008667e-05, 0.11400000005960464], "quat_xyzw": [0.5499598383903503, 0.44445937871932983, 0.44446152448654175, -0.5499581098556519]}, "link_3": {"xyz": [0.07539237290620804, 2.4702399969100952e-05, 0.3721233904361725], "quat_xyzw": [-0.21393929421901703, 0.6739659309387207, -0.6739650368690491, -0.21394185721874237]}, "link_4": {"xyz": [0.31014251708984375, 2.3808330297470093e-05, 0.27983367443084717], "quat_xyzw": [-0.5011289119720459, 0.4988686144351959, -0.49886661767959595, -0.5011307597160339]}, "link_5": {"xyz": [0.3493072986602783, -1.3299286365509033e-06, 0.20565570890903473], "quat_xyzw": [0.49887433648109436, 0.4988609552383423, -0.5011346340179443, -0.5011250376701355]}, "link_6": {"xyz": [0.3096480071544647, -1.9958679331466556e-06, 0.17053478956222534], "quat_xyzw": [0.7071003317832947, 0.7071096897125244, -0.0016077272593975067, -0.0015914777759462595]}, "link_left_finger": {"xyz": [0.34857413172721863, -0.020139090716838837, 0.10985849052667618], "quat_xyzw": [0.5011322498321533, 0.498876690864563, 0.49885857105255127, -0.5011273622512817]}, "link_right_finger": {"xyz": [0.27017441391944885, 0.020071975886821747, 0.11021227389574051], "quat_xyzw": [0.5011322498321533, 0.498876690864563, 0.49885857105255127, -0.5011273622512817]}}}, {"t": 6.482, "phase": "close", "bottle_xyz": [0.27994006872177124, 0.00012826941383536905, 0.049161095172166824], "bottle_quat_xyzw": [-0.0005884869606234133, -0.0020049838349223137, -0.0016754248645156622, 0.9999964237213135], "bottom_z": -0.00035107928107713793, "q": [-3.8410221350204665e-06, 1.7821863889694214, 1.1674368381500244, -0.9605728983879089, 2.228759512945544e-05, -1.6922202121349983e-05, 0.01685086265206337, -0.016909707337617874], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0062868003733456135, -0.0062868003733456135], "finger_forces": {"link_left_finger": [0.017713941633701324, -2.7399067878723145, -0.04898335039615631], "link_right_finger": [0.0201851986348629, 2.7520344257354736, -0.0010742638260126114]}, "ground_force": [-0.04431295394897461, -0.011855906806886196, 0.8278820514678955], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071054577827454, 0.707108199596405]}, "link_2": {"xyz": [0.020000001415610313, 2.4925917387008667e-05, 0.11400000005960464], "quat_xyzw": [0.5499597787857056, 0.444459468126297, 0.4444615840911865, -0.5499580502510071]}, "link_3": {"xyz": [0.07539231330156326, 2.47173011302948e-05, 0.3721233904361725], "quat_xyzw": [-0.21393918991088867, 0.6739659309387207, -0.6739650964736938, -0.2139417678117752]}, "link_4": {"xyz": [0.31014248728752136, 2.3808330297470093e-05, 0.27983373403549194], "quat_xyzw": [-0.5011293292045593, 0.4988681674003601, -0.4988662600517273, -0.5011312365531921]}, "link_5": {"xyz": [0.3493071496486664, -1.3373792171478271e-06, 0.20565569400787354], "quat_xyzw": [0.49887368083000183, 0.4988607168197632, -0.5011348724365234, -0.5011256337165833]}, "link_6": {"xyz": [0.309647798538208, -1.973399776034057e-06, 0.17053481936454773], "quat_xyzw": [0.7071003317832947, 0.7071096897125244, -0.001608056714758277, -0.0015923883765935898]}, "link_left_finger": {"xyz": [0.34857383370399475, -0.020151928067207336, 0.1098584532737732], "quat_xyzw": [0.5011324882507324, 0.49887603521347046, 0.49885833263397217, -0.5011280179023743]}, "link_right_finger": {"xyz": [0.2701740860939026, 0.020086457952857018, 0.11021240055561066], "quat_xyzw": [0.5011324882507324, 0.49887603521347046, 0.49885833263397217, -0.5011280179023743]}}}, {"t": 6.502, "phase": "close", "bottle_xyz": [0.27993807196617126, 0.00013159988156985492, 0.049160849303007126], "bottle_quat_xyzw": [-0.00059182831319049, -0.002118215663358569, -0.0017554215155541897, 0.9999960660934448], "bottom_z": -0.0003549993198933496, "q": [-4.790676030097529e-06, 1.7821860313415527, 1.1674368381500244, -0.960573673248291, 2.8045675207977183e-05, -1.828771928558126e-05, 0.01683584786951542, -0.016893818974494934], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.005859375, -0.005859375], "finger_forces": {"link_left_finger": [0.02442605048418045, -2.8210225105285645, -0.039059463888406754], "link_right_finger": [0.020861975848674774, 2.8308377265930176, -0.001262737438082695]}, "ground_force": [-0.04342443495988846, -0.009059090167284012, 0.8291709423065186], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071051597595215, 0.7071084976196289]}, "link_2": {"xyz": [0.020000001415610313, 2.490915358066559e-05, 0.11400000005960464], "quat_xyzw": [0.5499598979949951, 0.44445937871932983, 0.44446197152137756, -0.549957811832428]}, "link_3": {"xyz": [0.07539216428995132, 2.4655833840370178e-05, 0.37212345004081726], "quat_xyzw": [-0.21393878757953644, 0.6739660501480103, -0.6739650368690491, -0.21394188702106476]}, "link_4": {"xyz": [0.3101423382759094, 2.35680490732193e-05, 0.2798338830471039], "quat_xyzw": [-0.5011292099952698, 0.49886828660964966, -0.4988659620285034, -0.5011314749717712]}, "link_5": {"xyz": [0.34930700063705444, -1.607462763786316e-06, 0.20565584301948547], "quat_xyzw": [0.498875230550766, 0.4988589584827423, -0.5011361837387085, -0.5011244416236877]}, "link_6": {"xyz": [0.3096476197242737, -2.406988642178476e-06, 0.17053499817848206], "quat_xyzw": [0.7071001529693604, 0.7071098685264587, -0.0016102263471111655, -0.0015904580941423774]}, "link_left_finger": {"xyz": [0.34857362508773804, -0.02016771398484707, 0.10985873639583588], "quat_xyzw": [0.501133918762207, 0.49887752532958984, 0.49885669350624084, -0.501126766204834]}, "link_right_finger": {"xyz": [0.2701738774776459, 0.020101549103856087, 0.11021248251199722], "quat_xyzw": [0.501133918762207, 0.49887752532958984, 0.49885669350624084, -0.501126766204834]}}}, {"t": 6.522, "phase": "close", "bottle_xyz": [0.2799360156059265, 0.00013326546468306333, 0.049160510301589966], "bottle_quat_xyzw": [-0.0005900274263694882, -0.002234963234513998, -0.0018357179360464215, 0.9999957084655762], "bottom_z": -0.00035907219235967874, "q": [-4.1229804992326535e-06, 1.7821851968765259, 1.1674368381500244, -0.9605761766433716, 2.2816522687207907e-05, -1.6400595995946787e-05, 0.016821570694446564, -0.01687878929078579], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0054432000033557415, -0.0054432000033557415], "finger_forces": {"link_left_finger": [0.022521890699863434, -2.9218883514404297, -0.03859797120094299], "link_right_finger": [0.011024955660104752, 2.9316887855529785, -0.0056394655257463455]}, "ground_force": [-0.046316515654325485, -0.009319565258920193, 0.8308226466178894], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071053981781006, 0.7071082592010498]}, "link_2": {"xyz": [0.020000001415610313, 2.4922192096710205e-05, 0.11400000005960464], "quat_xyzw": [0.5499595403671265, 0.44445979595184326, 0.44446200132369995, -0.5499577522277832]}, "link_3": {"xyz": [0.0753919705748558, 2.469867467880249e-05, 0.37212345004081726], "quat_xyzw": [-0.21393871307373047, 0.6739660501480103, -0.6739652156829834, -0.21394135057926178]}, "link_4": {"xyz": [0.3101422190666199, 2.3789703845977783e-05, 0.2798340916633606], "quat_xyzw": [-0.5011298060417175, 0.4988676607608795, -0.4988657236099243, -0.5011317729949951]}, "link_5": {"xyz": [0.34930673241615295, -1.3634562492370605e-06, 0.20565597712993622], "quat_xyzw": [0.4988733232021332, 0.4988599717617035, -0.501135528087616, -0.5011259913444519]}, "link_6": {"xyz": [0.3096473217010498, -2.0183506421744823e-06, 0.17053522169589996], "quat_xyzw": [0.707100510597229, 0.7071095108985901, -0.0016090577701106668, -0.0015929094515740871]}, "link_left_finger": {"xyz": [0.3485732078552246, -0.02018132619559765, 0.10985878109931946], "quat_xyzw": [0.5011333227157593, 0.49887555837631226, 0.4988577663898468, -0.5011282563209534]}, "link_right_finger": {"xyz": [0.27017349004745483, 0.02011731266975403, 0.11021286249160767], "quat_xyzw": [0.5011333227157593, 0.49887555837631226, 0.4988577663898468, -0.5011282563209534]}}}, {"t": 6.542, "phase": "close", "bottle_xyz": [0.2799336314201355, 0.0001349550293525681, 0.04915992543101311], "bottle_quat_xyzw": [-0.0005892151384614408, -0.002358850557357073, -0.0019172600004822016, 0.999995231628418], "bottom_z": -0.0003636478294365489, "q": [-3.6403250760486117e-06, 1.7821847200393677, 1.1674368381500244, -0.9605804681777954, 1.905042154248804e-05, -1.5225929018924944e-05, 0.016812371090054512, -0.016868317499756813], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.005038725212216377, -0.005038725212216377], "finger_forces": {"link_left_finger": [0.02962503582239151, -2.989816665649414, -0.04675058647990227], "link_right_finger": [0.021274952217936516, 2.9987425804138184, -0.01260565035045147]}, "ground_force": [-0.04851017892360687, -0.008352033793926239, 0.833312451839447], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071055173873901, 0.7071081399917603]}, "link_2": {"xyz": [0.020000001415610313, 2.492964267730713e-05, 0.11400000005960464], "quat_xyzw": [0.5499593615531921, 0.4444599747657776, 0.44446200132369995, -0.5499576926231384]}, "link_3": {"xyz": [0.07539188116788864, 2.473592758178711e-05, 0.37212345004081726], "quat_xyzw": [-0.21393868327140808, 0.6739660501480103, -0.6739652752876282, -0.21394114196300507]}, "link_4": {"xyz": [0.3101421594619751, 2.3871660232543945e-05, 0.27983418107032776], "quat_xyzw": [-0.5011308789253235, 0.49886664748191833, -0.4988647997379303, -0.5011326670646667]}, "link_5": {"xyz": [0.3493064045906067, -1.2665987014770508e-06, 0.20565590262413025], "quat_xyzw": [0.4988713562488556, 0.49886009097099304, -0.5011356472969055, -0.5011278986930847]}, "link_6": {"xyz": [0.3096468150615692, -1.8033751985058188e-06, 0.17053528130054474], "quat_xyzw": [0.7071008682250977, 0.7071091532707214, -0.0016090342542156577, -0.001595641253516078]}, "link_left_finger": {"xyz": [0.3485724627971649, -0.02019011601805687, 0.10985860228538513], "quat_xyzw": [0.5011335611343384, 0.49887335300445557, 0.4988580346107483, -0.5011299252510071]}, "link_right_finger": {"xyz": [0.27017277479171753, 0.020128272473812103, 0.11021315306425095], "quat_xyzw": [0.5011335611343384, 0.49887335300445557, 0.4988580346107483, -0.5011299252510071]}}}, {"t": 6.562, "phase": "close", "bottle_xyz": [0.27993130683898926, 0.0001366489304928109, 0.04915943369269371], "bottle_quat_xyzw": [-0.0005897338851355016, -0.0024840401019901037, -0.002003446454182267, 0.9999947547912598], "bottom_z": -0.00036826249835261726, "q": [-3.029884965144447e-06, 1.7821844816207886, 1.1674362421035767, -0.9605839252471924, 1.550656816107221e-05, -1.4651780475105625e-05, 0.01680525206029415, -0.016859428957104683], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.004646399989724159, -0.004646399989724159], "finger_forces": {"link_left_finger": [0.028713762760162354, -3.0479588508605957, -0.04156583175063133], "link_right_finger": [0.03093579225242138, 3.056893825531006, -0.008647559210658073]}, "ground_force": [-0.0495632030069828, -0.008295220322906971, 0.8355503082275391], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071057558059692, 0.7071079015731812]}, "link_2": {"xyz": [0.020000001415610313, 2.4942681193351746e-05, 0.11400000005960464], "quat_xyzw": [0.5499591827392578, 0.44446027278900146, 0.4444619417190552, -0.549957811832428]}, "link_3": {"xyz": [0.07539177685976028, 2.477876842021942e-05, 0.37212350964546204], "quat_xyzw": [-0.21393899619579315, 0.6739659905433655, -0.673965334892273, -0.21394100785255432]}, "link_4": {"xyz": [0.31014207005500793, 2.409331500530243e-05, 0.27983418107032776], "quat_xyzw": [-0.5011319518089294, 0.49886554479599, -0.4988640546798706, -0.5011334419250488]}, "link_5": {"xyz": [0.34930601716041565, -1.0151416063308716e-06, 0.2056557685136795], "quat_xyzw": [0.4988693594932556, 0.4988601505756378, -0.5011357665061951, -0.5011295080184937]}, "link_6": {"xyz": [0.3096463084220886, -1.43705983646214e-06, 0.17053529620170593], "quat_xyzw": [0.7071008086204529, 0.7071090936660767, -0.0016090996796265244, -0.0015981560572981834]}, "link_left_finger": {"xyz": [0.3485717475414276, -0.020196663215756416, 0.109858438372612], "quat_xyzw": [0.5011336207389832, 0.4988715946674347, 0.4988580048084259, -0.5011317133903503]}, "link_right_finger": {"xyz": [0.2701720893383026, 0.020137745887041092, 0.11021340638399124], "quat_xyzw": [0.5011336207389832, 0.4988715946674347, 0.4988580048084259, -0.5011317133903503]}}}, {"t": 6.582, "phase": "close", "bottle_xyz": [0.27992957830429077, 0.0001382362243020907, 0.04915902763605118], "bottle_quat_xyzw": [-0.0005900607793591917, -0.0026048405561596155, -0.002086134161800146, 0.9999942779541016], "bottom_z": -0.0003726427133770027, "q": [-2.7504190711624688e-06, 1.7821836471557617, 1.1674363613128662, -0.9605852961540222, 1.2978885933989659e-05, -1.4056235158932395e-05, 0.016797000542283058, -0.01684895157814026], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.004266675096005201, -0.004266675096005201], "finger_forces": {"link_left_finger": [0.025686845183372498, -3.11777925491333, -0.039713457226753235], "link_right_finger": [0.025917939841747284, 3.1267638206481934, -0.003285365179181099]}, "ground_force": [-0.049813177436590195, -0.008923673070967197, 0.8375272750854492], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071058750152588, 0.7071077823638916]}, "link_2": {"xyz": [0.020000001415610313, 2.495013177394867e-05, 0.11400000005960464], "quat_xyzw": [0.5499588847160339, 0.44446057081222534, 0.4444620609283447, -0.5499576926231384]}, "link_3": {"xyz": [0.07539156824350357, 2.4786219000816345e-05, 0.3721235394477844], "quat_xyzw": [-0.21393883228302002, 0.6739660501480103, -0.6739654541015625, -0.2139405757188797]}, "link_4": {"xyz": [0.3101419508457184, 2.417527139186859e-05, 0.27983441948890686], "quat_xyzw": [-0.5011321306228638, 0.4988652765750885, -0.49886396527290344, -0.501133382320404]}, "link_5": {"xyz": [0.3493058681488037, -9.257346391677856e-07, 0.2056559920310974], "quat_xyzw": [0.49886849522590637, 0.49886080622673035, -0.5011354088783264, -0.501130223274231]}, "link_6": {"xyz": [0.3096461594104767, -1.284890458919108e-06, 0.17053551971912384], "quat_xyzw": [0.7071008682250977, 0.7071090936660767, -0.0016083818627521396, -0.0015993034467101097]}, "link_left_finger": {"xyz": [0.3485715389251709, -0.02020459622144699, 0.10985857248306274], "quat_xyzw": [0.5011330842971802, 0.49887073040008545, 0.4988584816455841, -0.5011324882507324]}, "link_right_finger": {"xyz": [0.2701718509197235, 0.02014852501451969, 0.11021370440721512], "quat_xyzw": [0.5011330842971802, 0.49887073040008545, 0.4988584816455841, -0.5011324882507324]}}}, {"t": 6.602, "phase": "close", "bottle_xyz": [0.2799278199672699, 0.00013977933849673718, 0.04915853589773178], "bottle_quat_xyzw": [-0.0005897233495488763, -0.0027248363476246595, -0.0021686924155801535, 0.9999938011169434], "bottom_z": -0.0003770747748977135, "q": [-2.646676193762687e-06, 1.7821835279464722, 1.1674364805221558, -0.9605868458747864, 1.186590270663146e-05, -1.3848003618477378e-05, 0.016788335517048836, -0.01683783158659935], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.003900000127032399, -0.003900000127032399], "finger_forces": {"link_left_finger": [0.03382832556962967, -3.192582607269287, -0.04513252526521683], "link_right_finger": [0.03964511305093765, 3.200786590576172, -0.002071816474199295]}, "ground_force": [-0.04899502918124199, -0.008156882598996162, 0.8398197293281555], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071058750152588, 0.7071077823638916]}, "link_2": {"xyz": [0.020000001415610313, 2.495013177394867e-05, 0.11400000005960464], "quat_xyzw": [0.5499588847160339, 0.44446060061454773, 0.4444620609283447, -0.5499576926231384]}, "link_3": {"xyz": [0.07539155334234238, 2.4801120162010193e-05, 0.3721235692501068], "quat_xyzw": [-0.21393878757953644, 0.6739660501480103, -0.6739654541015625, -0.21394051611423492]}, "link_4": {"xyz": [0.3101418912410736, 2.4205073714256287e-05, 0.27983447909355164], "quat_xyzw": [-0.5011324882507324, 0.49886494874954224, -0.49886366724967957, -0.5011337399482727]}, "link_5": {"xyz": [0.3493056893348694, -8.959323167800903e-07, 0.2056560069322586], "quat_xyzw": [0.4988678991794586, 0.49886074662208557, -0.501135528087616, -0.5011308193206787]}, "link_6": {"xyz": [0.3096459209918976, -1.2216478353366256e-06, 0.170535609126091], "quat_xyzw": [0.7071009874343872, 0.7071090340614319, -0.0016085065435618162, -0.0016001123003661633]}, "link_left_finger": {"xyz": [0.348571240901947, -0.020213153213262558, 0.10985856503248215], "quat_xyzw": [0.5011332631111145, 0.4988701045513153, 0.4988584816455841, -0.5011330246925354]}, "link_right_finger": {"xyz": [0.270171582698822, 0.020159780979156494, 0.11021383106708527], "quat_xyzw": [0.5011332631111145, 0.4988701045513153, 0.4988584816455841, -0.5011330246925354]}}}, {"t": 6.622, "phase": "close", "bottle_xyz": [0.27992603182792664, 0.00014120267587713897, 0.04915815591812134], "bottle_quat_xyzw": [-0.0005887835868634284, -0.0028468272648751736, -0.0022527805995196104, 0.9999932646751404], "bottom_z": -0.000381453593472178, "q": [-2.6791024083649972e-06, 1.7821831703186035, 1.1674365997314453, -0.9605883359909058, 1.1435678061388899e-05, -1.3576713172369637e-05, 0.016781026497483253, -0.016828112304210663], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0035468251444399357, -0.0035468251444399357], "finger_forces": {"link_left_finger": [0.02282945066690445, -3.2565793991088867, -0.05565263330936432], "link_right_finger": [0.03008006140589714, 3.263545036315918, -0.020767664536833763]}, "ground_force": [-0.051421936601400375, -0.008031664416193962, 0.841796338558197], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071058750152588, 0.7071077823638916]}, "link_2": {"xyz": [0.020000001415610313, 2.495013177394867e-05, 0.11400000005960464], "quat_xyzw": [0.5499588251113892, 0.4444607198238373, 0.44446220993995667, -0.5499576330184937]}, "link_3": {"xyz": [0.07539143413305283, 2.4801120162010193e-05, 0.3721235990524292], "quat_xyzw": [-0.21393859386444092, 0.673966109752655, -0.6739655137062073, -0.2139403373003006]}, "link_4": {"xyz": [0.3101418614387512, 2.4205073714256287e-05, 0.2798346281051636], "quat_xyzw": [-0.5011327266693115, 0.4988647401332855, -0.49886342883110046, -0.5011339783668518]}, "link_5": {"xyz": [0.3493055999279022, -8.959323167800903e-07, 0.20565611124038696], "quat_xyzw": [0.49886757135391235, 0.49886059761047363, -0.5011355876922607, -0.5011311173439026]}, "link_6": {"xyz": [0.30964580178260803, -1.1978700058534741e-06, 0.17053575813770294], "quat_xyzw": [0.7071011066436768, 0.7071089148521423, -0.0016086536925286055, -0.0016006125370040536]}, "link_left_finger": {"xyz": [0.3485710024833679, -0.020220421254634857, 0.1098586767911911], "quat_xyzw": [0.5011334419250488, 0.4988696873188019, 0.4988584816455841, -0.5011332631111145]}, "link_right_finger": {"xyz": [0.2701714038848877, 0.020169558003544807, 0.11021402478218079], "quat_xyzw": [0.5011334419250488, 0.4988696873188019, 0.4988584816455841, -0.5011332631111145]}}}, {"t": 6.642, "phase": "close", "bottle_xyz": [0.27992427349090576, 0.0001425675582140684, 0.04915769025683403], "bottle_quat_xyzw": [-0.0005885896389372647, -0.002968687331303954, -0.0023362180218100548, 0.9999927282333374], "bottom_z": -0.0003859156353121368, "q": [-2.7240021154284477e-06, 1.782183051109314, 1.1674365997314453, -0.9605901837348938, 1.0653827303030994e-05, -1.3248307368485257e-05, 0.016774920746684074, -0.016819700598716736], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.003207600209861994, -0.003207600209861994], "finger_forces": {"link_left_finger": [0.03183666616678238, -3.311429977416992, -0.056451648473739624], "link_right_finger": [0.030960064381361008, 3.3189313411712646, -0.019330864772200584]}, "ground_force": [-0.050110697746276855, -0.007243919651955366, 0.8440923690795898], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071058750152588, 0.7071077823638916]}, "link_2": {"xyz": [0.020000001415610313, 2.495013177394867e-05, 0.11400000005960464], "quat_xyzw": [0.5499587655067444, 0.4444607198238373, 0.44446220993995667, -0.5499575734138489]}, "link_3": {"xyz": [0.07539143413305283, 2.4801120162010193e-05, 0.3721235692501068], "quat_xyzw": [-0.21393854916095734, 0.6739661693572998, -0.673965573310852, -0.2139403074979782]}, "link_4": {"xyz": [0.310141921043396, 2.419017255306244e-05, 0.2798346281051636], "quat_xyzw": [-0.501133143901825, 0.4988642632961273, -0.49886295199394226, -0.5011343955993652]}, "link_5": {"xyz": [0.34930551052093506, -9.182840585708618e-07, 0.2056560516357422], "quat_xyzw": [0.4988669157028198, 0.49886032938957214, -0.5011358261108398, -0.5011317729949951]}, "link_6": {"xyz": [0.3096456527709961, -1.1898810043931007e-06, 0.17053575813770294], "quat_xyzw": [0.7071012258529663, 0.7071087956428528, -0.0016089939745143056, -0.0016015232540667057]}, "link_left_finger": {"xyz": [0.3485707640647888, -0.020226482301950455, 0.10985858738422394], "quat_xyzw": [0.5011337995529175, 0.4988689422607422, 0.4988583028316498, -0.5011338591575623]}, "link_right_finger": {"xyz": [0.2701711356639862, 0.020178047940135002, 0.11021411418914795], "quat_xyzw": [0.5011337995529175, 0.4988689422607422, 0.4988583028316498, -0.5011338591575623]}}}, {"t": 6.662, "phase": "close", "bottle_xyz": [0.27992263436317444, 0.0001439376501366496, 0.04915725812315941], "bottle_quat_xyzw": [-0.0005895333015359938, -0.0030910316854715347, -0.002421168377622962, 0.9999921321868896], "bottom_z": -0.00039036445695862093, "q": [-2.654133595569874e-06, 1.782183051109314, 1.1674365997314453, -0.9605913162231445, 9.407351171830669e-06, -1.2868323210568633e-05, 0.016769055277109146, -0.016811585053801537], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0028827751521021128, -0.0028827751521021128], "finger_forces": {"link_left_finger": [0.031195111572742462, -3.3655619621276855, -0.052069175988435745], "link_right_finger": [0.020084885880351067, 3.3735811710357666, -0.014915281906723976]}, "ground_force": [-0.05169950798153877, -0.007378873415291309, 0.8463025689125061], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071058750152588, 0.7071077823638916]}, "link_2": {"xyz": [0.020000001415610313, 2.495013177394867e-05, 0.11400000005960464], "quat_xyzw": [0.5499587655067444, 0.4444607198238373, 0.44446220993995667, -0.5499575734138489]}, "link_3": {"xyz": [0.07539143413305283, 2.4801120162010193e-05, 0.3721235692501068], "quat_xyzw": [-0.21393854916095734, 0.6739661693572998, -0.673965573310852, -0.2139403074979782]}, "link_4": {"xyz": [0.310141921043396, 2.419017255306244e-05, 0.2798346281051636], "quat_xyzw": [-0.5011334419250488, 0.4988640546798706, -0.49886271357536316, -0.5011347532272339]}, "link_5": {"xyz": [0.3493054509162903, -9.10833477973938e-07, 0.2056559920310974], "quat_xyzw": [0.49886631965637207, 0.4988603889942169, -0.5011357665061951, -0.5011324286460876]}, "link_6": {"xyz": [0.30964556336402893, -1.137887011282146e-06, 0.17053574323654175], "quat_xyzw": [0.7071014046669006, 0.7071086168289185, -0.0016089145792648196, -0.0016024215146899223]}, "link_left_finger": {"xyz": [0.3485705852508545, -0.02023223601281643, 0.10985851287841797], "quat_xyzw": [0.5011338591575623, 0.4988681972026825, 0.4988585114479065, -0.5011343359947205]}, "link_right_finger": {"xyz": [0.27017098665237427, 0.020186321809887886, 0.11021417379379272], "quat_xyzw": [0.5011338591575623, 0.4988681972026825, 0.4988585114479065, -0.5011343359947205]}}}, {"t": 6.6819999999999995, "phase": "close", "bottle_xyz": [0.27992114424705505, 0.00014527248276863247, 0.049157142639160156], "bottle_quat_xyzw": [-0.0005903687560930848, -0.003211503615602851, -0.0025047161616384983, 0.9999915361404419], "bottom_z": -0.00039443150520215853, "q": [-2.5390484097442823e-06, 1.7821820974349976, 1.1674374341964722, -0.9605926871299744, 8.558808985981159e-06, -1.2715899174509104e-05, 0.01676323264837265, -0.016803616657853127], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0025728000327944756, -0.0025728000327944756], "finger_forces": {"link_left_finger": [0.03315792232751846, -3.420342445373535, -0.06096947565674782], "link_right_finger": [0.04131451994180679, 3.427351474761963, -0.020567743107676506]}, "ground_force": [-0.05140810087323189, -0.0068803043104708195, 0.8475528955459595], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071059346199036, 0.7071077227592468]}, "link_2": {"xyz": [0.020000001415610313, 2.49519944190979e-05, 0.11400000005960464], "quat_xyzw": [0.5499585270881653, 0.44446104764938354, 0.44446244835853577, -0.5499573945999146]}, "link_3": {"xyz": [0.07539116591215134, 2.481788396835327e-05, 0.3721236288547516], "quat_xyzw": [-0.21393799781799316, 0.6739662885665894, -0.6739657521247864, -0.21393965184688568]}, "link_4": {"xyz": [0.31014177203178406, 2.425163984298706e-05, 0.2798351049423218], "quat_xyzw": [-0.501133382320404, 0.4988640546798706, -0.4988628327846527, -0.5011345744132996]}, "link_5": {"xyz": [0.34930533170700073, -8.419156074523926e-07, 0.205656498670578], "quat_xyzw": [0.49886617064476013, 0.4988607168197632, -0.501135528087616, -0.5011324286460876]}, "link_6": {"xyz": [0.3096454441547394, -1.050226273946464e-06, 0.17053623497486115], "quat_xyzw": [0.7071013450622559, 0.7071086764335632, -0.0016085366951301694, -0.0016025268705561757]}, "link_left_finger": {"xyz": [0.34857049584388733, -0.020237920805811882, 0.10985898971557617], "quat_xyzw": [0.5011335611343384, 0.4988681674003601, 0.4988587200641632, -0.50113445520401]}, "link_right_finger": {"xyz": [0.2701708972454071, 0.020194413140416145, 0.11021466553211212], "quat_xyzw": [0.5011335611343384, 0.4988681674003601, 0.4988587200641632, -0.50113445520401]}}}, {"t": 6.702, "phase": "close", "bottle_xyz": [0.27991989254951477, 0.00014652953541371971, 0.04915687441825867], "bottle_quat_xyzw": [-0.0005907152080908418, -0.003331810003146529, -0.0025887680239975452, 0.9999909400939941], "bottom_z": -0.0003986396300301315, "q": [-2.3675445390836103e-06, 1.7821807861328125, 1.167438268661499, -0.9605945348739624, 7.567832199129043e-06, -1.2546803191071376e-05, 0.016757940873503685, -0.016796333715319633], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0022781251464039087, -0.0022781251464039087], "finger_forces": {"link_left_finger": [0.004521206021308899, -3.4701180458068848, -0.0415414497256279], "link_right_finger": [0.009566152468323708, 3.4766292572021484, 0.004007264971733093]}, "ground_force": [-0.05173760652542114, -0.007497707847505808, 0.8492993712425232], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071059942245483, 0.707107663154602]}, "link_2": {"xyz": [0.020000001415610313, 2.4955719709396362e-05, 0.11400000005960464], "quat_xyzw": [0.5499581694602966, 0.444461464881897, 0.44446274638175964, -0.5499571561813354]}, "link_3": {"xyz": [0.07539083808660507, 2.4821609258651733e-05, 0.37212368845939636], "quat_xyzw": [-0.21393735706806183, 0.6739665269851685, -0.6739659905433655, -0.21393883228302002]}, "link_4": {"xyz": [0.3101416528224945, 2.4314969778060913e-05, 0.27983570098876953], "quat_xyzw": [-0.501133382320404, 0.4988641142845154, -0.49886298179626465, -0.50113445520401]}, "link_5": {"xyz": [0.34930524230003357, -7.636845111846924e-07, 0.20565709471702576], "quat_xyzw": [0.49886593222618103, 0.49886107444763184, -0.5011352300643921, -0.5011325478553772]}, "link_6": {"xyz": [0.3096453845500946, -9.462673915550113e-07, 0.1705368161201477], "quat_xyzw": [0.7071012854576111, 0.7071086764335632, -0.0016080751083791256, -0.0016027550445869565]}, "link_left_finger": {"xyz": [0.34857046604156494, -0.02024303749203682, 0.10985960066318512], "quat_xyzw": [0.501133143901825, 0.4988679885864258, 0.4988590180873871, -0.5011346340179443]}, "link_right_finger": {"xyz": [0.2701708674430847, 0.02020183950662613, 0.11021529138088226], "quat_xyzw": [0.501133143901825, 0.4988679885864258, 0.4988590180873871, -0.5011346340179443]}}}, {"t": 6.7219999999999995, "phase": "close", "bottle_xyz": [0.2799183130264282, 0.00014769895642530173, 0.04915648326277733], "bottle_quat_xyzw": [-0.0005917255184613168, -0.003454065416008234, -0.0026743654161691666, 0.9999903440475464], "bottom_z": -0.0004030357921091868, "q": [-2.3665231765335193e-06, 1.782179594039917, 1.1674385070800781, -0.9605970978736877, 6.627146376558812e-06, -1.2002456969639752e-05, 0.016753310337662697, -0.016789862886071205], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.001999200088903308, -0.001999200088903308], "finger_forces": {"link_left_finger": [0.02250986546278, -3.5138654708862305, -0.0546843558549881], "link_right_finger": [0.023680850863456726, 3.5200366973876953, -0.010719487443566322]}, "ground_force": [-0.05220453813672066, -0.006749147083610296, 0.8514963984489441], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071059942245483, 0.707107663154602]}, "link_2": {"xyz": [0.020000001415610313, 2.4955719709396362e-05, 0.11400000005960464], "quat_xyzw": [0.5499579906463623, 0.44446179270744324, 0.4444631040096283, -0.5499569177627563]}, "link_3": {"xyz": [0.07539051026105881, 2.4821609258651733e-05, 0.3721238076686859], "quat_xyzw": [-0.21393686532974243, 0.673966646194458, -0.673966109752655, -0.2139384150505066]}, "link_4": {"xyz": [0.3101414144039154, 2.4285167455673218e-05, 0.27983611822128296], "quat_xyzw": [-0.5011336803436279, 0.4988638162612915, -0.4988626539707184, -0.5011348128318787]}, "link_5": {"xyz": [0.3493049144744873, -8.009374141693115e-07, 0.2056574523448944], "quat_xyzw": [0.49886542558670044, 0.49886101484298706, -0.5011353492736816, -0.501133143901825]}, "link_6": {"xyz": [0.30964499711990356, -9.487994248047471e-07, 0.17053721845149994], "quat_xyzw": [0.7071015238761902, 0.7071084380149841, -0.0016081997891888022, -0.0016035303706303239]}, "link_left_finger": {"xyz": [0.34856998920440674, -0.02024764195084572, 0.10985991358757019], "quat_xyzw": [0.5011334419250488, 0.4988672733306885, 0.49885907769203186, -0.501134991645813]}, "link_right_finger": {"xyz": [0.2701704204082489, 0.020208396017551422, 0.11021573096513748], "quat_xyzw": [0.5011334419250488, 0.4988672733306885, 0.49885907769203186, -0.501134991645813]}}}, {"t": 6.742, "phase": "close", "bottle_xyz": [0.2799172103404999, 0.00014885982091072947, 0.0491560623049736], "bottle_quat_xyzw": [-0.0005929741309955716, -0.0035735706333070993, -0.0027604964561760426, 0.9999896883964539], "bottom_z": -0.00040737039023775595, "q": [-2.1093151190143544e-06, 1.782179355621338, 1.1674391031265259, -0.960597574710846, 5.388153567764675e-06, -1.189497925224714e-05, 0.016749117523431778, -0.016783956438302994], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0017364750383421779, -0.0017364750383421779], "finger_forces": {"link_left_finger": [0.024193599820137024, -3.5531935691833496, -0.06669586896896362], "link_right_finger": [0.029514873400330544, 3.5600690841674805, -0.019648073241114616]}, "ground_force": [-0.053740207105875015, -0.005413223523646593, 0.853807806968689], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071060538291931, 0.7071076035499573]}, "link_2": {"xyz": [0.020000003278255463, 2.4959444999694824e-05, 0.11400000005960464], "quat_xyzw": [0.549957811832428, 0.444461852312088, 0.4444630742073059, -0.5499568581581116]}, "link_3": {"xyz": [0.07539049535989761, 2.4825334548950195e-05, 0.37212374806404114], "quat_xyzw": [-0.21393662691116333, 0.6739667057991028, -0.6739662289619446, -0.21393802762031555]}, "link_4": {"xyz": [0.3101414740085602, 2.4333596229553223e-05, 0.2798362970352173], "quat_xyzw": [-0.5011336207389832, 0.49886390566825867, -0.4988628327846527, -0.5011346340179443]}, "link_5": {"xyz": [0.34930500388145447, -7.37607479095459e-07, 0.20565766096115112], "quat_xyzw": [0.49886518716812134, 0.4988614618778229, -0.5011349320411682, -0.5011332631111145]}, "link_6": {"xyz": [0.3096451163291931, -8.450297173112631e-07, 0.17053741216659546], "quat_xyzw": [0.7071015238761902, 0.7071084976196289, -0.0016075670719146729, -0.001603788579814136]}, "link_left_finger": {"xyz": [0.3485701382160187, -0.020251654088497162, 0.10986007750034332], "quat_xyzw": [0.5011329650878906, 0.49886712431907654, 0.4988595247268677, -0.5011352300643921]}, "link_right_finger": {"xyz": [0.27017053961753845, 0.02021448127925396, 0.1102159321308136], "quat_xyzw": [0.5011329650878906, 0.49886712431907654, 0.4988595247268677, -0.5011352300643921]}}}, {"t": 6.762, "phase": "close", "bottle_xyz": [0.27991604804992676, 0.0001498621713835746, 0.04915572702884674], "bottle_quat_xyzw": [-0.0005927387392148376, -0.0036917980760335922, -0.0028461541514843702, 0.9999890327453613], "bottom_z": -0.00041156480585904237, "q": [-2.0471202333283145e-06, 1.7821786403656006, 1.167439579963684, -0.9605986475944519, 4.724055543192662e-06, -1.1742743481590878e-05, 0.016745276749134064, -0.016778498888015747], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0014904000563547015, -0.0014904000563547015], "finger_forces": {"link_left_finger": [0.029536709189414978, -3.5898897647857666, -0.06251821666955948], "link_right_finger": [0.01556503027677536, 3.5969295501708984, -0.01545085571706295]}, "ground_force": [-0.0519997663795948, -0.005905905272811651, 0.8558624982833862], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071061134338379, 0.7071075439453125]}, "link_2": {"xyz": [0.020000001415610313, 2.4963170289993286e-05, 0.11400000005960464], "quat_xyzw": [0.5499576330184937, 0.4444621205329895, 0.44446325302124023, -0.549956738948822]}, "link_3": {"xyz": [0.0753902867436409, 2.4843961000442505e-05, 0.3721238374710083], "quat_xyzw": [-0.21393628418445587, 0.6739668846130371, -0.6739664077758789, -0.21393761038780212]}, "link_4": {"xyz": [0.3101414442062378, 2.4382025003433228e-05, 0.27983665466308594], "quat_xyzw": [-0.5011336207389832, 0.49886393547058105, -0.4988628625869751, -0.5011345744132996]}, "link_5": {"xyz": [0.34930500388145447, -6.817281246185303e-07, 0.20565801858901978], "quat_xyzw": [0.4988650381565094, 0.49886173009872437, -0.5011347532272339, -0.5011334419250488]}, "link_6": {"xyz": [0.3096451163291931, -7.807975634932518e-07, 0.17053775489330292], "quat_xyzw": [0.707101583480835, 0.7071084380149841, -0.001607260899618268, -0.0016040427144616842]}, "link_left_finger": {"xyz": [0.3485701382160187, -0.02025539055466652, 0.10986042022705078], "quat_xyzw": [0.5011327862739563, 0.4988669157028198, 0.49885979294776917, -0.5011353492736816]}, "link_right_finger": {"xyz": [0.27017053961753845, 0.020220056176185608, 0.11021627485752106], "quat_xyzw": [0.5011327862739563, 0.4988669157028198, 0.49885979294776917, -0.5011353492736816]}}}, {"t": 6.782, "phase": "close", "bottle_xyz": [0.2799147963523865, 0.00015072114183567464, 0.049155231565237045], "bottle_quat_xyzw": [-0.0005920135881751776, -0.0038114541675895452, -0.0029335280414670706, 0.999988317489624], "bottom_z": -0.00041595985556410614, "q": [-2.0046225017722463e-06, 1.7821786403656006, 1.1674396991729736, -0.9605993628501892, 4.029028787044808e-06, -1.1584990716073662e-05, 0.01674184575676918, -0.016773628070950508], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.00126142508815974, -0.00126142508815974], "finger_forces": {"link_left_finger": [0.03960458189249039, -3.623520851135254, -0.0615943968296051], "link_right_finger": [0.03849992901086807, 3.6302695274353027, -0.012852005660533905]}, "ground_force": [-0.05316208302974701, -0.005626726429909468, 0.8584835529327393], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071061134338379, 0.7071075439453125]}, "link_2": {"xyz": [0.020000001415610313, 2.4963170289993286e-05, 0.11400000005960464], "quat_xyzw": [0.5499576330184937, 0.4444621205329895, 0.44446325302124023, -0.549956738948822]}, "link_3": {"xyz": [0.0753902867436409, 2.4843961000442505e-05, 0.3721238374710083], "quat_xyzw": [-0.2139362096786499, 0.6739668250083923, -0.6739664077758789, -0.21393753588199615]}, "link_4": {"xyz": [0.3101414144039154, 2.4382025003433228e-05, 0.2798367142677307], "quat_xyzw": [-0.5011337399482727, 0.49886372685432434, -0.49886274337768555, -0.5011347532272339]}, "link_5": {"xyz": [0.3493049144744873, -6.891787052154541e-07, 0.20565804839134216], "quat_xyzw": [0.4988647699356079, 0.49886173009872437, -0.5011347532272339, -0.5011337399482727]}, "link_6": {"xyz": [0.30964499711990356, -7.575581548735499e-07, 0.1705378144979477], "quat_xyzw": [0.707101583480835, 0.7071083784103394, -0.001607262878678739, -0.0016044111689552665]}, "link_left_finger": {"xyz": [0.3485700190067291, -0.020258769392967224, 0.10986046493053436], "quat_xyzw": [0.5011327862739563, 0.49886661767959595, 0.49885979294776917, -0.5011355876922607]}, "link_right_finger": {"xyz": [0.2701704204082489, 0.020224986597895622, 0.11021637916564941], "quat_xyzw": [0.5011327862739563, 0.49886661767959595, 0.49885979294776917, -0.5011355876922607]}}}, {"t": 6.802, "phase": "close", "bottle_xyz": [0.27991360425949097, 0.000151652202475816, 0.049154993146657944], "bottle_quat_xyzw": [-0.0005920738913118839, -0.00392972631379962, -0.0030185384675860405, 0.9999876022338867], "bottom_z": -0.0004200647837671323, "q": [-1.8737541722657625e-06, 1.782177448272705, 1.1674401760101318, -0.9606009721755981, 3.215682681911858e-06, -1.126294500863878e-05, 0.016738947480916977, -0.01676936447620392], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0010500000789761543, -0.0010500000789761543], "finger_forces": {"link_left_finger": [0.023901067674160004, -3.652106761932373, -0.06047724932432175], "link_right_finger": [0.017401503399014473, 3.658402919769287, -0.007059965282678604]}, "ground_force": [-0.05210668593645096, -0.005336567293852568, 0.860293984413147], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071061730384827, 0.7071074843406677]}, "link_2": {"xyz": [0.020000001415610313, 2.4965032935142517e-05, 0.11400000005960464], "quat_xyzw": [0.5499573945999146, 0.44446247816085815, 0.4444635212421417, -0.5499565601348877]}, "link_3": {"xyz": [0.07539000362157822, 2.4860724806785583e-05, 0.3721238970756531], "quat_xyzw": [-0.21393577754497528, 0.6739670038223267, -0.6739665865898132, -0.21393698453903198]}, "link_4": {"xyz": [0.31014126539230347, 2.444349229335785e-05, 0.27983707189559937], "quat_xyzw": [-0.5011337995529175, 0.49886369705200195, -0.49886274337768555, -0.5011346936225891]}, "link_5": {"xyz": [0.349304735660553, -6.277114152908325e-07, 0.205658420920372], "quat_xyzw": [0.49886441230773926, 0.49886196851730347, -0.5011345744132996, -0.501133918762207]}, "link_6": {"xyz": [0.30964481830596924, -6.615882739424706e-07, 0.17053820192813873], "quat_xyzw": [0.7071016430854797, 0.7071083784103394, -0.0016069781268015504, -0.001604783465154469]}, "link_left_finger": {"xyz": [0.3485698103904724, -0.020261527970433235, 0.10986082255840302], "quat_xyzw": [0.5011326670646667, 0.49886634945869446, 0.49886003136634827, -0.5011358857154846]}, "link_right_finger": {"xyz": [0.2701702415943146, 0.020229410380125046, 0.11021678149700165], "quat_xyzw": [0.5011326670646667, 0.49886634945869446, 0.49886003136634827, -0.5011358857154846]}}}, {"t": 6.822, "phase": "close", "bottle_xyz": [0.27991238236427307, 0.0001524695398984477, 0.049154575914144516], "bottle_quat_xyzw": [-0.0005923800054006279, -0.004047686699777842, -0.003105948446318507, 0.9999868273735046], "bottom_z": -0.00042438647317985523, "q": [-1.913807182063465e-06, 1.782177448272705, 1.1674401760101318, -0.9606018662452698, 2.6228437945974292e-06, -1.1081370757892728e-05, 0.016736505553126335, -0.01676565781235695], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0008565750322304666, -0.0008565750322304666], "finger_forces": {"link_left_finger": [0.022101059556007385, -3.6769580841064453, -0.06703655421733856], "link_right_finger": [0.020266350358724594, 3.6816763877868652, -0.016970830038189888]}, "ground_force": [-0.05009041354060173, -0.004807389806956053, 0.8627257347106934], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071061730384827, 0.7071074843406677]}, "link_2": {"xyz": [0.020000001415610313, 2.4965032935142517e-05, 0.11400000005960464], "quat_xyzw": [0.5499573945999146, 0.44446247816085815, 0.4444635212421417, -0.5499565601348877]}, "link_3": {"xyz": [0.07539000362157822, 2.4860724806785583e-05, 0.3721238970756531], "quat_xyzw": [-0.21393577754497528, 0.6739670038223267, -0.6739665865898132, -0.21393698453903198]}, "link_4": {"xyz": [0.31014126539230347, 2.444349229335785e-05, 0.27983707189559937], "quat_xyzw": [-0.5011340379714966, 0.49886342883110046, -0.49886250495910645, -0.5011348724365234]}, "link_5": {"xyz": [0.3493046760559082, -6.202608346939087e-07, 0.20565837621688843], "quat_xyzw": [0.4988640546798706, 0.4988619387149811, -0.5011346936225891, -0.5011342763900757]}, "link_6": {"xyz": [0.3096447288990021, -6.464688340201974e-07, 0.17053817212581635], "quat_xyzw": [0.7071016430854797, 0.7071083188056946, -0.0016070861602202058, -0.001605274504981935]}, "link_left_finger": {"xyz": [0.3485696613788605, -0.020263919606804848, 0.10986074805259705], "quat_xyzw": [0.5011327266693115, 0.4988659620285034, 0.4988599717617035, -0.5011361837387085]}, "link_right_finger": {"xyz": [0.27017009258270264, 0.020233171060681343, 0.11021681129932404], "quat_xyzw": [0.5011327266693115, 0.4988659620285034, 0.4988599717617035, -0.5011361837387085]}}}, {"t": 6.842, "phase": "close", "bottle_xyz": [0.2799113988876343, 0.00015323120169341564, 0.04915442690253258], "bottle_quat_xyzw": [-0.0005927230231463909, -0.004163130186498165, -0.003194197779521346, 0.9999861121177673], "bottom_z": -0.00042835404521442133, "q": [-1.7695498399916687e-06, 1.7821769714355469, 1.1674405336380005, -0.960602343082428, 1.5715212384748156e-06, -1.0877598469960503e-05, 0.016734518110752106, -0.0167625043541193], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0006816000095568597, -0.0006816000095568597], "finger_forces": {"link_left_finger": [0.04383338987827301, -3.6943883895874023, -0.06167411804199219], "link_right_finger": [0.057274386286735535, 3.70261549949646, -0.02299860492348671]}, "ground_force": [-0.05106111615896225, -0.005287813022732735, 0.8642727136611938], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071062326431274, 0.707107424736023]}, "link_2": {"xyz": [0.020000001415610313, 2.496875822544098e-05, 0.11400000005960464], "quat_xyzw": [0.5499571561813354, 0.44446268677711487, 0.4444636106491089, -0.5499564409255981]}, "link_3": {"xyz": [0.07538985460996628, 2.4864450097084045e-05, 0.37212392687797546], "quat_xyzw": [-0.2139355093240738, 0.6739671230316162, -0.6739667654037476, -0.21393653750419617]}, "link_4": {"xyz": [0.31014126539230347, 2.452172338962555e-05, 0.27983736991882324], "quat_xyzw": [-0.5011339783668518, 0.4988635182380676, -0.49886274337768555, -0.5011346936225891]}, "link_5": {"xyz": [0.349304735660553, -5.345791578292847e-07, 0.2056587040424347], "quat_xyzw": [0.4988638758659363, 0.4988623857498169, -0.5011343955993652, -0.5011343359947205]}, "link_6": {"xyz": [0.30964478850364685, -5.446636350825429e-07, 0.17053848505020142], "quat_xyzw": [0.7071016430854797, 0.7071083188056946, -0.001606555306352675, -0.001605490455403924]}, "link_left_finger": {"xyz": [0.34856978058815, -0.0202657338231802, 0.10986106097698212], "quat_xyzw": [0.5011323690414429, 0.4988658130168915, 0.49886032938957214, -0.501136302947998]}, "link_right_finger": {"xyz": [0.2701702117919922, 0.020236479118466377, 0.11021710932254791], "quat_xyzw": [0.5011323690414429, 0.4988658130168915, 0.49886032938957214, -0.501136302947998]}}}, {"t": 6.862, "phase": "close", "bottle_xyz": [0.27991053462028503, 0.0001539753284305334, 0.04915428161621094], "bottle_quat_xyzw": [-0.0005935939843766391, -0.004276868887245655, -0.003282529767602682, 0.9999853372573853], "bottom_z": -0.00043226064046618384, "q": [-1.6636269037917373e-06, 1.7821768522262573, 1.1674411296844482, -0.9606019258499146, 5.966678031654737e-07, -1.059264650393743e-05, 0.01673300750553608, -0.01675989106297493], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0005255250143818557, -0.0005255250143818557], "finger_forces": {"link_left_finger": [0.016215883195400238, -3.7120883464813232, -0.06731408089399338], "link_right_finger": [0.006644951179623604, 3.717363119125366, -0.019348062574863434]}, "ground_force": [-0.05239608511328697, -0.004757703747600317, 0.8658462166786194], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071062326431274, 0.707107424736023]}, "link_2": {"xyz": [0.020000001415610313, 2.496875822544098e-05, 0.11400000005960464], "quat_xyzw": [0.5499571561813354, 0.44446268677711487, 0.4444636106491089, -0.5499563813209534]}, "link_3": {"xyz": [0.07538985460996628, 2.4879351258277893e-05, 0.3721238970756531], "quat_xyzw": [-0.2139352709054947, 0.6739671230316162, -0.6739668250083923, -0.21393635869026184]}, "link_4": {"xyz": [0.3101412355899811, 2.4491921067237854e-05, 0.2798374891281128], "quat_xyzw": [-0.5011336803436279, 0.4988637864589691, -0.49886298179626465, -0.50113445520401]}, "link_5": {"xyz": [0.34930476546287537, -5.718320608139038e-07, 0.20565886795520782], "quat_xyzw": [0.49886390566825867, 0.4988628029823303, -0.5011337995529175, -0.5011342763900757]}, "link_6": {"xyz": [0.3096448481082916, -5.237816367298365e-07, 0.17053860425949097], "quat_xyzw": [0.7071017622947693, 0.7071081399917603, -0.001605822704732418, -0.0016053802100941539]}, "link_left_finger": {"xyz": [0.3485698997974396, -0.020267203450202942, 0.10986123979091644], "quat_xyzw": [0.5011319518089294, 0.4988658130168915, 0.4988609850406647, -0.5011361837387085]}, "link_right_finger": {"xyz": [0.27017033100128174, 0.020239200443029404, 0.11021722853183746], "quat_xyzw": [0.5011319518089294, 0.4988658130168915, 0.4988609850406647, -0.5011361837387085]}}}, {"t": 6.882, "phase": "close", "bottle_xyz": [0.2799101769924164, 0.0001589695893926546, 0.04915446415543556], "bottle_quat_xyzw": [-0.0006059748120605946, -0.004376409575343132, -0.003359198570251465, 0.9999846816062927], "bottom_z": -0.0004354064375606814, "q": [-4.287190222385107e-06, 1.782175898551941, 1.1674425601959229, -0.9606010317802429, 2.1271225705277175e-05, -1.7193928215419874e-05, 0.016723718494176865, -0.01675260066986084], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.00038880002102814615, -0.00038880002102814615], "finger_forces": {"link_left_finger": [0.02938602864742279, -3.696577548980713, -0.0829620286822319], "link_right_finger": [0.033130157738924026, 3.7040905952453613, -0.009985212236642838]}, "ground_force": [-0.04818755388259888, -0.0058037592098116875, 0.8662567138671875], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071053385734558, 0.7071083188056946]}, "link_2": {"xyz": [0.020000001415610313, 2.4918466806411743e-05, 0.11400000005960464], "quat_xyzw": [0.5499575138092041, 0.4444623291492462, 0.44446462392807007, -0.5499556660652161]}, "link_3": {"xyz": [0.07538954168558121, 2.469494938850403e-05, 0.37212398648262024], "quat_xyzw": [-0.21393361687660217, 0.673967719078064, -0.6739668250083923, -0.21393637359142303]}, "link_4": {"xyz": [0.3101412355899811, 2.374127507209778e-05, 0.2798381447792053], "quat_xyzw": [-0.5011321902275085, 0.4988652169704437, -0.49886319041252136, -0.5011342167854309]}, "link_5": {"xyz": [0.34930500388145447, -1.4193356037139893e-06, 0.2056596577167511], "quat_xyzw": [0.49887049198150635, 0.49885791540145874, -0.5011374950408936, -0.5011289119720459]}, "link_6": {"xyz": [0.3096452057361603, -2.007742295973003e-06, 0.1705392748117447], "quat_xyzw": [0.7071003317832947, 0.7071096897125244, -0.0016119034262374043, -0.0015969380037859082]}, "link_left_finger": {"xyz": [0.3485705256462097, -0.02027904987335205, 0.10986241698265076], "quat_xyzw": [0.5011352300643921, 0.4988728165626526, 0.4988556206226349, -0.5011312365531921]}, "link_right_finger": {"xyz": [0.27017080783843994, 0.02024359442293644, 0.11021733283996582], "quat_xyzw": [0.5011352300643921, 0.4988728165626526, 0.4988556206226349, -0.5011312365531921]}}}, {"t": 6.902, "phase": "close", "bottle_xyz": [0.27990981936454773, 0.00015907395572867244, 0.049154508858919144], "bottle_quat_xyzw": [-0.0005958641413599253, -0.004481942858546972, -0.0034442865289747715, 0.9999839067459106], "bottom_z": -0.00043881083775549473, "q": [-3.5667308111442253e-06, 1.7821753025054932, 1.167443871498108, -0.9606007933616638, 1.5850562704144977e-05, -1.4952916899346747e-05, 0.01671326905488968, -0.016744771972298622], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.00027187500381842256, -0.00027187500381842256], "finger_forces": {"link_left_finger": [0.019189193844795227, -3.7667860984802246, -0.07667883485555649], "link_right_finger": [0.02787269838154316, 3.7758467197418213, -0.012703385204076767]}, "ground_force": [-0.054186638444662094, -0.007929830811917782, 0.8671624064445496], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071055769920349, 0.7071080803871155]}, "link_2": {"xyz": [0.020000001415610313, 2.493150532245636e-05, 0.11400000005960464], "quat_xyzw": [0.549957275390625, 0.4444626271724701, 0.4444645941257477, -0.5499556660652161]}, "link_3": {"xyz": [0.07538942247629166, 2.473779022693634e-05, 0.372124046087265], "quat_xyzw": [-0.21393318474292755, 0.6739678382873535, -0.6739670634269714, -0.21393556892871857]}, "link_4": {"xyz": [0.31014126539230347, 2.391822636127472e-05, 0.2798386216163635], "quat_xyzw": [-0.5011318325996399, 0.49886563420295715, -0.4988638460636139, -0.5011336207389832]}, "link_5": {"xyz": [0.3493052124977112, -1.2200325727462769e-06, 0.20566019415855408], "quat_xyzw": [0.49886953830718994, 0.4988599121570587, -0.5011357665061951, -0.5011296272277832]}, "link_6": {"xyz": [0.30964550375938416, -1.635431544855237e-06, 0.1705397367477417], "quat_xyzw": [0.7071009874343872, 0.7071090340614319, -0.0016092618461698294, -0.0015981488395482302]}, "link_left_finger": {"xyz": [0.34857088327407837, -0.02028886415064335, 0.10986284911632538], "quat_xyzw": [0.5011337995529175, 0.49887150526046753, 0.49885794520378113, -0.5011316537857056]}, "link_right_finger": {"xyz": [0.27017122507095337, 0.02025219053030014, 0.11021781712770462], "quat_xyzw": [0.5011337995529175, 0.49887150526046753, 0.49885794520378113, -0.5011316537857056]}}}, {"t": 6.922, "phase": "close", "bottle_xyz": [0.27990812063217163, 0.00015968400111887604, 0.049154132604599], "bottle_quat_xyzw": [-0.0005904035060666502, -0.004609852563589811, -0.0035305011551827192, 0.999983012676239], "bottom_z": -0.0004433869973150817, "q": [-2.6314196475141216e-06, 1.7821741104125977, 1.167444109916687, -0.9606043100357056, 1.135490310844034e-05, -1.371404232486384e-05, 0.016714267432689667, -0.01674780622124672], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.00017520000983495265, -0.00017520000983495265], "finger_forces": {"link_left_finger": [0.03228046000003815, -3.7403554916381836, -0.08680368214845657], "link_right_finger": [0.037728339433670044, 3.746586799621582, -0.01456483080983162]}, "ground_force": [-0.05527132749557495, -0.006248688790947199, 0.8697024583816528], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071058750152588, 0.7071077823638916]}, "link_2": {"xyz": [0.020000001415610313, 2.495013177394867e-05, 0.11400000005960464], "quat_xyzw": [0.5499567985534668, 0.44446319341659546, 0.44446465373039246, -0.5499556064605713]}, "link_3": {"xyz": [0.07538912445306778, 2.481602132320404e-05, 0.3721241056919098], "quat_xyzw": [-0.2139330357313156, 0.6739678978919983, -0.6739673018455505, -0.2139347642660141]}, "link_4": {"xyz": [0.31014108657836914, 2.4219974875450134e-05, 0.27983903884887695], "quat_xyzw": [-0.501132607460022, 0.49886488914489746, -0.4988635778427124, -0.5011338591575623]}, "link_5": {"xyz": [0.3493048846721649, -8.735805749893188e-07, 0.20566053688526154], "quat_xyzw": [0.4988676905632019, 0.49886077642440796, -0.5011354684829712, -0.5011310577392578]}, "link_6": {"xyz": [0.3096450865268707, -1.1859374353662133e-06, 0.17054013907909393], "quat_xyzw": [0.707101047039032, 0.7071089744567871, -0.001608432037755847, -0.0016004684148356318]}, "link_left_finger": {"xyz": [0.3485703468322754, -0.020287157967686653, 0.10986307263374329], "quat_xyzw": [0.5011332631111145, 0.4988698363304138, 0.49885860085487366, -0.5011332035064697]}, "link_right_finger": {"xyz": [0.2701707184314728, 0.02024988643825054, 0.11021839082241058], "quat_xyzw": [0.5011332631111145, 0.4988698363304138, 0.49885860085487366, -0.5011332035064697]}}}, {"t": 6.942, "phase": "close", "bottle_xyz": [0.279906302690506, 0.00015995634021237493, 0.04915360361337662], "bottle_quat_xyzw": [-0.0005854734918102622, -0.004740660544484854, -0.0036180708557367325, 0.9999820590019226], "bottom_z": -0.00044820977393929956, "q": [-1.8613144447954255e-06, 1.78217351436615, 1.167444109916687, -0.96060711145401, 6.06889398113708e-06, -1.2632039215532131e-05, 0.016717752441763878, -0.016752464696764946], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 9.922500612447038e-05, -9.922500612447038e-05], "finger_forces": {"link_left_finger": [0.02027178555727005, -3.704375743865967, -0.07628265023231506], "link_right_finger": [0.021585894748568535, 3.710735321044922, -0.012874897569417953]}, "ground_force": [-0.05827358365058899, -0.005765365902334452, 0.8728150129318237], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071061730384827, 0.7071074843406677]}, "link_2": {"xyz": [0.020000001415610313, 2.4965032935142517e-05, 0.11400000005960464], "quat_xyzw": [0.5499565005302429, 0.4444636106491089, 0.44446462392807007, -0.5499556660652161]}, "link_3": {"xyz": [0.07538894563913345, 2.487562596797943e-05, 0.3721241056919098], "quat_xyzw": [-0.2139330506324768, 0.6739678382873535, -0.6739674806594849, -0.2139342576265335]}, "link_4": {"xyz": [0.3101409375667572, 2.4458393454551697e-05, 0.2798392176628113], "quat_xyzw": [-0.5011333227157593, 0.49886414408683777, -0.49886325001716614, -0.5011342167854309]}, "link_5": {"xyz": [0.34930455684661865, -6.05359673500061e-07, 0.2056606411933899], "quat_xyzw": [0.49886563420295715, 0.49886175990104675, -0.5011348724365234, -0.5011327266693115]}, "link_6": {"xyz": [0.3096446692943573, -7.542403182014823e-07, 0.17054033279418945], "quat_xyzw": [0.7071011662483215, 0.7071088552474976, -0.0016073370352387428, -0.0016030847327783704]}, "link_left_finger": {"xyz": [0.3485698103904724, -0.020282937213778496, 0.10986308753490448], "quat_xyzw": [0.5011325478553772, 0.4988678991794586, 0.4988594353199005, -0.501134991645813]}, "link_right_finger": {"xyz": [0.2701701819896698, 0.02024598978459835, 0.11021877825260162], "quat_xyzw": [0.5011325478553772, 0.4988678991794586, 0.4988594353199005, -0.501134991645813]}}}, {"t": 6.962, "phase": "close", "bottle_xyz": [0.2799047827720642, 0.00016021296323742718, 0.04915301501750946], "bottle_quat_xyzw": [-0.0005798295605927706, -0.004864573944360018, -0.0037043611519038677, 0.999981164932251], "bottom_z": -0.00045285934779495246, "q": [-1.4994942603152595e-06, 1.7821736335754395, 1.167443871498108, -0.9606084823608398, 3.2797370295156725e-06, -1.1996001376246568e-05, 0.01671735756099224, -0.01675228215754032], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 4.440000338945538e-05, -4.440000338945538e-05], "finger_forces": {"link_left_finger": [0.04088137298822403, -3.7076644897460938, -0.08061514794826508], "link_right_finger": [0.02941611409187317, 3.7139766216278076, -0.012446625158190727]}, "ground_force": [-0.05223097652196884, -0.006603782530874014, 0.8760970830917358], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071062922477722, 0.7071073651313782]}, "link_2": {"xyz": [0.020000001415610313, 2.497248351573944e-05, 0.11400000005960464], "quat_xyzw": [0.5499563813209534, 0.4444636404514313, 0.44446447491645813, -0.5499557256698608]}, "link_3": {"xyz": [0.07538899034261703, 2.4897977709770203e-05, 0.3721241056919098], "quat_xyzw": [-0.2139333039522171, 0.6739677786827087, -0.6739674210548401, -0.2139342576265335]}, "link_4": {"xyz": [0.3101409375667572, 2.4570152163505554e-05, 0.27983909845352173], "quat_xyzw": [-0.5011338591575623, 0.49886366724967957, -0.4988628625869751, -0.5011345148086548]}, "link_5": {"xyz": [0.3493044376373291, -4.7124922275543213e-07, 0.20566044747829437], "quat_xyzw": [0.49886444211006165, 0.4988621175289154, -0.5011346340179443, -0.5011337399482727]}, "link_6": {"xyz": [0.30964452028274536, -5.321053322404623e-07, 0.17054018378257751], "quat_xyzw": [0.7071012854576111, 0.7071086764335632, -0.00160691246856004, -0.001604642951861024]}, "link_left_finger": {"xyz": [0.3485695421695709, -0.020282963290810585, 0.10986284911632538], "quat_xyzw": [0.5011324286460876, 0.4988667070865631, 0.49885988235473633, -0.5011360049247742]}, "link_right_finger": {"xyz": [0.2701699137687683, 0.0202465932816267, 0.11021877825260162], "quat_xyzw": [0.5011324286460876, 0.4988667070865631, 0.49885988235473633, -0.5011360049247742]}}}, {"t": 6.982, "phase": "close", "bottle_xyz": [0.2799036204814911, 0.00016058364417403936, 0.04915274307131767], "bottle_quat_xyzw": [-0.0005754368612542748, -0.004982686601579189, -0.0037894516717642546, 0.9999802708625793], "bottom_z": -0.00045700254170958493, "q": [-1.6036436818467337e-06, 1.7821736335754395, 1.167443871498108, -0.9606088995933533, 2.690324436116498e-06, -1.1633339454419911e-05, 0.016716795042157173, -0.016751334071159363], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 1.1175000508956145e-05, -1.1175000508956145e-05], "finger_forces": {"link_left_finger": [0.025677405297756195, -3.710920810699463, -0.07450859248638153], "link_right_finger": [0.02307574823498726, 3.715522289276123, -0.011238466948270798]}, "ground_force": [-0.054741766303777695, -0.005840695928782225, 0.8783107995986938], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071062326431274, 0.707107424736023]}, "link_2": {"xyz": [0.020000001415610313, 2.496875822544098e-05, 0.11400000005960464], "quat_xyzw": [0.5499565005302429, 0.4444636404514313, 0.4444645643234253, -0.5499557256698608]}, "link_3": {"xyz": [0.07538896054029465, 2.489425241947174e-05, 0.3721241354942322], "quat_xyzw": [-0.21393325924873352, 0.6739678382873535, -0.6739674806594849, -0.21393436193466187]}, "link_4": {"xyz": [0.3101409673690796, 2.452172338962555e-05, 0.2798391282558441], "quat_xyzw": [-0.501133918762207, 0.4988635778427124, -0.49886274337768555, -0.5011347532272339]}, "link_5": {"xyz": [0.3493044376373291, -5.345791578292847e-07, 0.20566046237945557], "quat_xyzw": [0.49886423349380493, 0.49886205792427063, -0.5011345744132996, -0.5011340379714966]}, "link_6": {"xyz": [0.309644490480423, -5.726469680666924e-07, 0.1705402433872223], "quat_xyzw": [0.7071014642715454, 0.7071084976196289, -0.0016068905824795365, -0.0016049990663304925]}, "link_left_finger": {"xyz": [0.34856951236724854, -0.0202835351228714, 0.10986285656690598], "quat_xyzw": [0.5011324286460876, 0.4988662898540497, 0.4988599717617035, -0.501136064529419]}, "link_right_finger": {"xyz": [0.2701699137687683, 0.020247535780072212, 0.11021885275840759], "quat_xyzw": [0.5011324286460876, 0.4988662898540497, 0.4988599717617035, -0.501136064529419]}}}, {"t": 7.002, "phase": "close", "bottle_xyz": [0.2799026370048523, 0.0001609494211152196, 0.04915275797247887], "bottle_quat_xyzw": [-0.000572520715650171, -0.00510055897757411, -0.00387923838570714, 0.9999793171882629], "bottom_z": -0.00046085309193921037, "q": [-1.8738132894213777e-06, 1.7821725606918335, 1.1674448251724243, -0.9606099128723145, 2.4662947453180095e-06, -1.1302926395728718e-05, 0.016719229519367218, -0.016753079369664192], "target": [7.974728732175832e-21, 1.7800488471984863, 1.1697615385055542, -0.9605089426040649, 1.401142081012085e-23, 7.971613880181687e-21, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.019848428666591644, -3.6867101192474365, -0.08426700532436371], "link_right_finger": [0.020549941807985306, 3.693082809448242, -0.026467924937605858]}, "ground_force": [-0.05499512329697609, -0.005354214925318956, 0.8796277642250061], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071061730384827, 0.7071074843406677]}, "link_2": {"xyz": [0.020000001415610313, 2.4965032935142517e-05, 0.11400000005960464], "quat_xyzw": [0.5499562621116638, 0.444463849067688, 0.44446486234664917, -0.549955427646637]}, "link_3": {"xyz": [0.07538872212171555, 2.487562596797943e-05, 0.37212416529655457], "quat_xyzw": [-0.21393249928951263, 0.6739680171012878, -0.6739676594734192, -0.21393369138240814]}, "link_4": {"xyz": [0.3101408779621124, 2.4458393454551697e-05, 0.2798396348953247], "quat_xyzw": [-0.5011336207389832, 0.4988638162612915, -0.49886295199394226, -0.5011345148086548]}, "link_5": {"xyz": [0.3493044078350067, -6.05359673500061e-07, 0.20566099882125854], "quat_xyzw": [0.49886441230773926, 0.4988623261451721, -0.5011342167854309, -0.5011338591575623]}, "link_6": {"xyz": [0.309644490480423, -6.205227691680193e-07, 0.17054075002670288], "quat_xyzw": [0.7071016430854797, 0.7071083188056946, -0.0016064641531556845, -0.0016047536628320813]}, "link_left_finger": {"xyz": [0.3485695421695709, -0.02028115838766098, 0.10986338555812836], "quat_xyzw": [0.5011323094367981, 0.49886631965637207, 0.4988603889942169, -0.5011357665061951]}, "link_right_finger": {"xyz": [0.2701699733734131, 0.02024577185511589, 0.1102193146944046], "quat_xyzw": [0.5011323094367981, 0.49886631965637207, 0.4988603889942169, -0.5011357665061951]}}}, {"t": 7.022, "phase": "lift", "bottle_xyz": [0.27990174293518066, 0.00016139631043188274, 0.0491817370057106], "bottle_quat_xyzw": [-0.0005699385656043887, -0.005210839211940765, -0.003966902382671833, 0.9999784231185913], "bottom_z": -0.0004354884470096354, "q": [-1.8498327563065686e-06, 1.7821789979934692, 1.1675748825073242, -0.9607892036437988, 1.898254367915797e-06, -1.101587349694455e-05, 0.016722247004508972, -0.016755130141973495], "target": [-7.699809350227363e-14, 1.7800326347351074, 1.1699343919754028, -0.9606907963752747, -1.5293792436903847e-13, -7.866326540888549e-14, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.0226610004901886, -3.6657917499542236, -0.034148477017879486], "link_right_finger": [0.019069243222475052, 3.6704561710357666, 0.03696350380778313]}, "ground_force": [-0.053631093353033066, -0.0047974735498428345, 0.7897655963897705], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071061730384827, 0.7071074843406677]}, "link_2": {"xyz": [0.020000001415610313, 2.4965032935142517e-05, 0.11400000005960464], "quat_xyzw": [0.5499576926231384, 0.4444620907306671, 0.4444631040096283, -0.5499568581581116]}, "link_3": {"xyz": [0.07539036124944687, 2.4860724806785583e-05, 0.3721238076686859], "quat_xyzw": [-0.21389085054397583, 0.673981249332428, -0.6739808320999146, -0.21389204263687134]}, "link_4": {"xyz": [0.31015390157699585, 2.444349229335785e-05, 0.27986830472946167], "quat_xyzw": [-0.5011475086212158, 0.4988499581813812, -0.4988490045070648, -0.5011484026908875]}, "link_5": {"xyz": [0.34931331872940063, -6.202608346939087e-07, 0.2056874930858612], "quat_xyzw": [0.49885040521621704, 0.498848557472229, -0.501147985458374, -0.5011479258537292]}, "link_6": {"xyz": [0.3096514642238617, -6.19678758084774e-07, 0.17056943476200104], "quat_xyzw": [0.7071017026901245, 0.7071082592010498, -0.0016259242547675967, -0.001624582102522254]}, "link_left_finger": {"xyz": [0.34857311844825745, -0.020278116688132286, 0.10988987982273102], "quat_xyzw": [0.5011460781097412, 0.4988522529602051, 0.4988466799259186, -0.5011497735977173]}, "link_right_finger": {"xyz": [0.270173579454422, 0.020243767648935318, 0.11025018990039825], "quat_xyzw": [0.5011460781097412, 0.4988522529602051, 0.4988466799259186, -0.5011497735977173]}}}, {"t": 7.042, "phase": "lift", "bottle_xyz": [0.27991822361946106, 0.00016214256174862385, 0.049284473061561584], "bottle_quat_xyzw": [-0.0005688651581294835, -0.005225813947618008, -0.004051010590046644, 0.9999780058860779], "bottom_z": -0.00033324064250558894, "q": [-1.5216327255984652e-06, 1.7821784019470215, 1.1680196523666382, -0.9613355398178101, 8.882449833436112e-07, -1.0442357051942963e-05, 0.0167221799492836, -0.016753828153014183], "target": [-3.059253425672509e-13, 1.7799845933914185, 1.1704481840133667, -0.961231529712677, -6.076459864792771e-13, -3.125413068540833e-13, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.04706903547048569, -3.672297477722168, 0.10186180472373962], "link_right_finger": [0.047355491667985916, 3.6765356063842773, 0.16121399402618408]}, "ground_force": [-0.07766204327344894, -0.003878627670928836, 0.5251844525337219], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071062922477722, 0.7071073651313782]}, "link_2": {"xyz": [0.020000001415610313, 2.497248351573944e-05, 0.11400000005960464], "quat_xyzw": [0.5499575138092041, 0.4444623589515686, 0.44446319341659546, -0.5499568581581116]}, "link_3": {"xyz": [0.07539019733667374, 2.4883076548576355e-05, 0.3721238672733307], "quat_xyzw": [-0.21374091506004333, 0.6740288734436035, -0.6740285158157349, -0.21374185383319855]}, "link_4": {"xyz": [0.31019487977027893, 2.4570152163505554e-05, 0.2799729108810425], "quat_xyzw": [-0.5011727809906006, 0.49882450699806213, -0.49882379174232483, -0.5011734962463379]}, "link_5": {"xyz": [0.3493468165397644, -4.78699803352356e-07, 0.20578815042972565], "quat_xyzw": [0.49882471561431885, 0.4988235831260681, -0.5011730194091797, -0.5011732578277588]}, "link_6": {"xyz": [0.30968141555786133, -4.526373231783509e-07, 0.17067408561706543], "quat_xyzw": [0.7071016430854797, 0.7071080803871155, -0.0016613042680546641, -0.001660658628679812]}, "link_left_finger": {"xyz": [0.3485969305038452, -0.02027796395123005, 0.10999060422182083], "quat_xyzw": [0.5011710524559021, 0.49882662296295166, 0.4988216161727905, -0.5011751651763916]}, "link_right_finger": {"xyz": [0.27019742131233215, 0.020245295017957687, 0.11035886406898499], "quat_xyzw": [0.5011710524559021, 0.49882662296295166, 0.4988216161727905, -0.5011751651763916]}}}, {"t": 7.062, "phase": "lift", "bottle_xyz": [0.2799597382545471, 0.00016327200864907354, 0.04945869743824005], "bottle_quat_xyzw": [-0.0005699723260477185, -0.00521214259788394, -0.00413568364456296, 0.999977707862854], "bottom_z": -0.0001585711382046523, "q": [-1.321197601100721e-06, 1.7821694612503052, 1.1687804460525513, -0.962215781211853, -7.965657573549834e-07, -8.60034651850583e-06, 0.016721509397029877, -0.01675156131386757], "target": [-6.836811390457942e-13, 1.7799052000045776, 1.1712960004806519, -0.9621237516403198, -1.3579656062828738e-12, -6.984664582820876e-13, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.038302794098854065, -3.6866960525512695, 0.23848818242549896], "link_right_finger": [0.038806963711977005, 3.6897754669189453, 0.30720454454421997]}, "ground_force": [-0.07812801003456116, -0.002839007880538702, 0.24042531847953796], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.707106351852417, 0.7071073055267334]}, "link_2": {"xyz": [0.020000001415610313, 2.4976208806037903e-05, 0.11400000005960464], "quat_xyzw": [0.549955427646637, 0.44446486234664917, 0.44446560740470886, -0.5499548316001892]}, "link_3": {"xyz": [0.07538788765668869, 2.4901703000068665e-05, 0.3721243441104889], "quat_xyzw": [-0.21348148584365845, 0.6741110682487488, -0.6741107702255249, -0.2134823501110077]}, "link_4": {"xyz": [0.31026342511177063, 2.461858093738556e-05, 0.28015416860580444], "quat_xyzw": [-0.5012003779411316, 0.4987967908382416, -0.49879616498947144, -0.5012009739875793]}, "link_5": {"xyz": [0.3494071662425995, -4.2282044887542725e-07, 0.2059650868177414], "quat_xyzw": [0.49879658222198486, 0.49879637360572815, -0.5012001395225525, -0.5012012124061584]}, "link_6": {"xyz": [0.309737890958786, -3.4866388887166977e-07, 0.17085543274879456], "quat_xyzw": [0.7071022391319275, 0.7071073651313782, -0.001699710264801979, -0.0017003408866003156]}, "link_left_finger": {"xyz": [0.3486466705799103, -0.02027849480509758, 0.11016760766506195], "quat_xyzw": [0.5011986494064331, 0.49879807233810425, 0.49879488348960876, -0.5012027025222778]}, "link_right_finger": {"xyz": [0.27024728059768677, 0.020247861742973328, 0.1105446070432663], "quat_xyzw": [0.5011986494064331, 0.49879807233810425, 0.49879488348960876, -0.5012027025222778]}}}, {"t": 7.082, "phase": "lift", "bottle_xyz": [0.28003570437431335, 0.00016522931400686502, 0.049712054431438446], "bottle_quat_xyzw": [-0.0005750979762524366, -0.005386329255998135, -0.004227010998874903, 0.999976396560669], "bottom_z": 8.905123922443858e-05, "q": [-8.039793897296477e-07, 1.7821353673934937, 1.1698709726333618, -0.9634126424789429, -4.194612301944289e-06, -6.143407063063933e-06, 0.016723236069083214, -0.016750991344451904], "target": [-1.2071649018938202e-12, 1.7797952890396118, 1.1724709272384644, -0.9633602499961853, -2.3977382579420947e-12, -1.233271080744447e-12, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.023857928812503815, -3.6845383644104004, 0.3471088707447052], "link_right_finger": [0.0354452058672905, 3.6865663528442383, 0.41977041959762573]}, "ground_force": [-0.03681781888008118, -0.0005697861779481173, 0.059051789343357086], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071065306663513, 0.7071071267127991]}, "link_2": {"xyz": [0.020000001415610313, 2.498738467693329e-05, 0.11400000005960464], "quat_xyzw": [0.5499477982521057, 0.44447439908981323, 0.44447484612464905, -0.5499474406242371]}, "link_3": {"xyz": [0.07537908107042313, 2.4942681193351746e-05, 0.3721262514591217], "quat_xyzw": [-0.21310260891914368, 0.6742309331893921, -0.6742307543754578, -0.21310308575630188]}, "link_4": {"xyz": [0.3103578984737396, 2.477876842021942e-05, 0.2804202735424042], "quat_xyzw": [-0.5012185573577881, 0.4987785518169403, -0.49877816438674927, -0.501218855381012]}, "link_5": {"xyz": [0.3494962751865387, -2.3283064365386963e-07, 0.2062283605337143], "quat_xyzw": [0.49877744913101196, 0.4987792372703552, -0.5012174248695374, -0.5012199282646179]}, "link_6": {"xyz": [0.30982446670532227, -5.8396835811436176e-08, 0.17112155258655548], "quat_xyzw": [0.7071027755737305, 0.7071065902709961, -0.0017240600427612662, -0.0017271318938583136]}, "link_left_finger": {"xyz": [0.34872883558273315, -0.02027633599936962, 0.11043086647987366], "quat_xyzw": [0.5012162327766418, 0.4987785816192627, 0.4987780451774597, -0.5012211203575134]}, "link_right_finger": {"xyz": [0.2703295350074768, 0.020248988643288612, 0.1108136773109436], "quat_xyzw": [0.5012162327766418, 0.4987785816192627, 0.4987780451774597, -0.5012211203575134]}}}, {"t": 7.102, "phase": "lift", "bottle_xyz": [0.28015559911727905, 0.00016760537982918322, 0.05005747824907303], "bottle_quat_xyzw": [-0.0005816658376716077, -0.005877913907170296, -0.00432913051918149, 0.9999732375144958], "bottom_z": 0.0004183504348280187, "q": [-2.496115882877348e-07, 1.7820518016815186, 1.1713117361068726, -0.9649192690849304, -7.528864898631582e-06, -3.7544334645644994e-06, 0.016725964844226837, -0.01675066538155079], "target": [-1.873276056843509e-12, 1.7796553373336792, 1.1739659309387207, -0.9649335741996765, -3.7208053478565706e-12, -1.913787704699299e-12, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.018299154937267303, -3.6720070838928223, 0.3497258126735687], "link_right_finger": [0.013287126086652279, 3.6740736961364746, 0.41194218397140503]}, "ground_force": [-0.003191077383235097, -4.989192893845029e-05, 0.0035937584470957518], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5499290227890015, 0.4444974958896637, 0.44449758529663086, -0.5499289631843567]}, "link_3": {"xyz": [0.0753575786948204, 2.4985522031784058e-05, 0.3721308410167694], "quat_xyzw": [-0.21258893609046936, 0.6743930578231812, -0.6743930578231812, -0.21258896589279175]}, "link_4": {"xyz": [0.3104758858680725, 2.497062087059021e-05, 0.28078311681747437], "quat_xyzw": [-0.501214325428009, 0.49878281354904175, -0.49878278374671936, -0.501214325428009]}, "link_5": {"xyz": [0.34961557388305664, -2.60770320892334e-08, 0.2065918892621994], "quat_xyzw": [0.49878087639808655, 0.4987846612930298, -0.5012123584747314, -0.5012161731719971]}, "link_6": {"xyz": [0.30994436144828796, 2.3884058464318514e-07, 0.17148439586162567], "quat_xyzw": [0.707103431224823, 0.7071060538291931, -0.0017166445031762123, -0.0017220263835042715]}, "link_left_finger": {"xyz": [0.3488497734069824, -0.020273184403777122, 0.1107943132519722], "quat_xyzw": [0.5012114644050598, 0.49878180027008057, 0.49878376722335815, -0.5012171268463135]}, "link_right_finger": {"xyz": [0.27045053243637085, 0.02024989016354084, 0.11117586493492126], "quat_xyzw": [0.5012114644050598, 0.49878180027008057, 0.49878376722335815, -0.5012171268463135]}}}, {"t": 7.122, "phase": "lift", "bottle_xyz": [0.2803109288215637, 0.0001703183661447838, 0.050498075783252716], "bottle_quat_xyzw": [-0.0005898373783566058, -0.006496311165392399, -0.004431715700775385, 0.999968945980072], "bottom_z": 0.0008387324786285136, "q": [2.1107933889652486e-07, 1.7819126844406128, 1.1730962991714478, -0.9667649269104004, -1.039421658788342e-05, -2.158570623578271e-06, 0.016726991161704063, -0.016747983172535896], "target": [-2.6789139483118785e-12, 1.779486060142517, 1.1757742166519165, -0.9668364524841309, -5.321008390846149e-12, -2.7368482913986414e-12, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.020982831716537476, -3.6716532707214355, 0.36688023805618286], "link_right_finger": [-0.005278200842440128, 3.671297311782837, 0.4164798855781555]}, "ground_force": [-2.5387967070855666e-06, -4.020339616772617e-08, 7.304687983378244e-07], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.549898087978363, 0.44453591108322144, 0.4445358216762543, -0.5498981475830078]}, "link_3": {"xyz": [0.07532159239053726, 2.5006011128425598e-05, 0.3721385896205902], "quat_xyzw": [-0.21194016933441162, 0.6745972037315369, -0.6745972037315369, -0.21194003522396088]}, "link_4": {"xyz": [0.3106151521205902, 2.505071461200714e-05, 0.28124338388442993], "quat_xyzw": [-0.5011948943138123, 0.4988023638725281, -0.49880239367485046, -0.5011947751045227]}, "link_5": {"xyz": [0.34976062178611755, 6.891787052154541e-08, 0.2070552110671997], "quat_xyzw": [0.4987996518611908, 0.4988050162792206, -0.5011921525001526, -0.5011973977088928]}, "link_6": {"xyz": [0.31009218096733093, 4.3919135350733995e-07, 0.17194461822509766], "quat_xyzw": [0.707103967666626, 0.7071055769920349, -0.001687962911091745, -0.001695458311587572]}, "link_left_finger": {"xyz": [0.34900227189064026, -0.020271824672818184, 0.11125752329826355], "quat_xyzw": [0.5011915564537048, 0.49880024790763855, 0.4988044202327728, -0.5011979937553406]}, "link_right_finger": {"xyz": [0.27060312032699585, 0.020253002643585205, 0.11163307726383209], "quat_xyzw": [0.5011915564537048, 0.49880024790763855, 0.4988044202327728, -0.5011979937553406]}}}, {"t": 7.142, "phase": "lift", "bottle_xyz": [0.28049153089523315, 0.0001728753704810515, 0.05102711543440819], "bottle_quat_xyzw": [-0.0005972699145786464, -0.007122781127691269, -0.004534568637609482, 0.9999642372131348], "bottom_z": 0.0013473733804478805, "q": [2.298427972391437e-07, 1.7817285060882568, 1.1752017736434937, -0.9689552187919617, -1.1275616998318583e-05, -1.2673663150053471e-06, 0.01672658883035183, -0.016743583604693413], "target": [-3.6209778665058368e-12, 1.7792881727218628, 1.1778885126113892, -0.969061553478241, -7.192188251209375e-12, -3.699285669456209e-12, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.00859718769788742, -3.6810035705566406, 0.37197861075401306], "link_right_finger": [0.0030473729129880667, 3.6807446479797363, 0.44104447960853577]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5498571395874023, 0.44458654522895813, 0.44458645582199097, -0.5498571991920471]}, "link_3": {"xyz": [0.0752740427851677, 2.5020912289619446e-05, 0.3721487820148468], "quat_xyzw": [-0.2111678272485733, 0.6748393774032593, -0.674839437007904, -0.21116764843463898]}, "link_4": {"xyz": [0.31077516078948975, 2.5095418095588684e-05, 0.2817925214767456], "quat_xyzw": [-0.5011700987815857, 0.49882712960243225, -0.4988272488117218, -0.5011699795722961]}, "link_5": {"xyz": [0.34992799162864685, 9.872019290924072e-08, 0.20760825276374817], "quat_xyzw": [0.4988243281841278, 0.49883008003234863, -0.5011672973632812, -0.5011728405952454]}, "link_6": {"xyz": [0.3102630376815796, 4.86397766508162e-07, 0.17249374091625214], "quat_xyzw": [0.7071043848991394, 0.7071053981781006, -0.0016526486724615097, -0.0016606645658612251]}, "link_left_finger": {"xyz": [0.34917911887168884, -0.02027217112481594, 0.11181046068668365], "quat_xyzw": [0.5011668801307678, 0.49882471561431885, 0.4988296926021576, -0.5011732578277588]}, "link_right_finger": {"xyz": [0.27077996730804443, 0.020257530733942986, 0.11217828840017319], "quat_xyzw": [0.5011668801307678, 0.49882471561431885, 0.4988296926021576, -0.5011732578277588]}}}, {"t": 7.162, "phase": "lift", "bottle_xyz": [0.280694842338562, 0.00017531886987853795, 0.0516383983194828], "bottle_quat_xyzw": [-0.0006045783520676196, -0.007757099810987711, -0.004638810642063618, 0.9999590516090393], "bottom_z": 0.0019380824747252876, "q": [2.0735529915327788e-07, 1.781509518623352, 1.1776121854782104, -0.9714758396148682, -1.1576787983358372e-05, -8.259539185928588e-07, 0.0167269054800272, -0.016739970073103905], "target": [-4.6963674268929445e-12, 1.779062271118164, 1.1803021430969238, -0.9716016054153442, -9.328187527968268e-12, -4.797931583283566e-12, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.006531164050102234, -3.6826295852661133, 0.3784131109714508], "link_right_finger": [0.00967885460704565, 3.6830050945281982, 0.43970930576324463]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5498083829879761, 0.4446466863155365, 0.44464659690856934, -0.5498085021972656]}, "link_3": {"xyz": [0.07521756738424301, 2.499110996723175e-05, 0.37216082215309143], "quat_xyzw": [-0.2102804332971573, 0.6751164197921753, -0.6751164793968201, -0.21028020977973938]}, "link_4": {"xyz": [0.3109554648399353, 2.5080516934394836e-05, 0.28242412209510803], "quat_xyzw": [-0.5011429786682129, 0.4988544285297394, -0.4988545775413513, -0.5011427998542786]}, "link_5": {"xyz": [0.3501163721084595, 9.12696123123169e-08, 0.20824411511421204], "quat_xyzw": [0.4988515079021454, 0.4988574683666229, -0.5011399984359741, -0.5011457204818726]}, "link_6": {"xyz": [0.3104552626609802, 4.989269655197859e-07, 0.1731252670288086], "quat_xyzw": [0.7071045637130737, 0.707105278968811, -0.0016139817889779806, -0.0016222529811784625]}, "link_left_finger": {"xyz": [0.34937798976898193, -0.020271847024559975, 0.11244627833366394], "quat_xyzw": [0.5011397004127502, 0.49885186553001404, 0.49885720014572144, -0.5011460781097412]}, "link_right_finger": {"xyz": [0.27097874879837036, 0.02026120200753212, 0.1128055527806282], "quat_xyzw": [0.5011397004127502, 0.49885186553001404, 0.49885720014572144, -0.5011460781097412]}}}, {"t": 7.1819999999999995, "phase": "lift", "bottle_xyz": [0.28091883659362793, 0.00017768975521903485, 0.052328288555145264], "bottle_quat_xyzw": [-0.0006125743384473026, -0.008396991528570652, -0.004742063116282225, 0.9999533295631409], "bottom_z": 0.0026072973957548123, "q": [2.985047160564136e-07, 1.7812601327896118, 1.180315613746643, -0.9743131995201111, -1.2038394743285608e-05, -4.5821792582501075e-07, 0.016727950423955917, -0.016737299039959908], "target": [-5.901982028100328e-12, 1.7788090705871582, 1.183008074760437, -0.9744492173194885, -1.1722845784378766e-11, -6.02961907833488e-12, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.009275540709495544, -3.6790032386779785, 0.38069379329681396], "link_right_finger": [-0.003241507336497307, 3.677487373352051, 0.4438652992248535]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.549752950668335, 0.44471532106399536, 0.44471514225006104, -0.5497531294822693]}, "link_3": {"xyz": [0.0751531645655632, 2.500973641872406e-05, 0.37217462062835693], "quat_xyzw": [-0.2092835009098053, 0.6754261255264282, -0.675426185131073, -0.20928320288658142]}, "link_4": {"xyz": [0.3111549913883209, 2.5114044547080994e-05, 0.283134400844574], "quat_xyzw": [-0.5011141896247864, 0.49888333678245544, -0.49888351559638977, -0.501114010810852]}, "link_5": {"xyz": [0.35032445192337036, 1.1734664440155029e-07, 0.20895890891551971], "quat_xyzw": [0.4988803565502167, 0.49888649582862854, -0.5011111497879028, -0.5011169910430908]}, "link_6": {"xyz": [0.31066736578941345, 5.251640686765313e-07, 0.17383547127246857], "quat_xyzw": [0.7071048021316528, 0.7071053385734558, -0.0015730663435533643, -0.0015815288061276078]}, "link_left_finger": {"xyz": [0.3495970666408539, -0.02027076855301857, 0.11316093802452087], "quat_xyzw": [0.5011109113693237, 0.49888065457344055, 0.49888625741004944, -0.5011172890663147]}, "link_right_finger": {"xyz": [0.2711978256702423, 0.02026391588151455, 0.11351117491722107], "quat_xyzw": [0.5011109113693237, 0.49888065457344055, 0.49888625741004944, -0.5011172890663147]}}}, {"t": 7.202, "phase": "lift", "bottle_xyz": [0.28116342425346375, 0.0001793623814592138, 0.053094714879989624], "bottle_quat_xyzw": [-0.0006193746230565012, -0.009040983393788338, -0.004846172407269478, 0.999947190284729], "bottom_z": 0.0033530026908914767, "q": [-1.7454017608997674e-07, 1.7809820175170898, 1.1833057403564453, -0.9774564504623413, -1.0786876373458654e-05, -1.6680779424405046e-07, 0.016728481277823448, -0.016734600067138672], "target": [-7.234721068755112e-12, 1.778529167175293, 1.1859993934631348, -0.9775971174240112, -1.4370006920505496e-11, -7.391179682181281e-12, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.004017852246761322, -3.676443338394165, 0.36845988035202026], "link_right_finger": [0.006230390630662441, 3.6756467819213867, 0.42361554503440857]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5496912002563477, 0.44479161500930786, 0.444791704416275, -0.5496911406517029]}, "link_3": {"xyz": [0.07508137077093124, 2.4985522031784058e-05, 0.3721899092197418], "quat_xyzw": [-0.2081792950630188, 0.6757673025131226, -0.6757672429084778, -0.20817935466766357]}, "link_4": {"xyz": [0.31137290596961975, 2.497062087059021e-05, 0.283921480178833], "quat_xyzw": [-0.5010828971862793, 0.49891477823257446, -0.4989147186279297, -0.5010829567909241]}, "link_5": {"xyz": [0.35055166482925415, -3.3527612686157227e-08, 0.20975089073181152], "quat_xyzw": [0.49891212582588196, 0.4989174008369446, -0.5010802149772644, -0.501085638999939]}, "link_6": {"xyz": [0.31089895963668823, 3.498280420899391e-07, 0.17462250590324402], "quat_xyzw": [0.7071051597595215, 0.7071051597595215, -0.001529346453025937, -0.0015368914464488626]}, "link_left_finger": {"xyz": [0.3498362600803375, -0.020270511507987976, 0.11395284533500671], "quat_xyzw": [0.5010802149772644, 0.4989120662212372, 0.49891743063926697, -0.5010855793952942]}, "link_right_finger": {"xyz": [0.27143698930740356, 0.02026638388633728, 0.11429324746131897], "quat_xyzw": [0.5010802149772644, 0.4989120662212372, 0.49891743063926697, -0.5010855793952942]}}}, {"t": 7.2219999999999995, "phase": "lift", "bottle_xyz": [0.2814280092716217, 0.00018123096378985792, 0.05393560975790024], "bottle_quat_xyzw": [-0.0006258381181396544, -0.009683046489953995, -0.004947344772517681, 0.9999407529830933], "bottom_z": 0.00417332212727007, "q": [1.8212725194644008e-07, 1.7806775569915771, 1.1865744590759277, -0.9808931946754456, -1.1620662007771898e-05, -2.3278607841348276e-07, 0.016728349030017853, -0.016731781885027885], "target": [-8.691484164324859e-12, 1.7782231569290161, 1.189268946647644, -0.9810379147529602, -1.7263510065923526e-11, -8.879446657117374e-12, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.003147892653942108, -3.6777377128601074, 0.37478452920913696], "link_right_finger": [0.010238812305033207, 3.677356004714966, 0.4262749254703522]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.549623429775238, 0.4448753893375397, 0.4448752999305725, -0.5496234893798828]}, "link_3": {"xyz": [0.07500273734331131, 2.5020912289619446e-05, 0.3722067177295685], "quat_xyzw": [-0.20697177946567535, 0.6761380434036255, -0.6761381030082703, -0.20697161555290222]}, "link_4": {"xyz": [0.31160813570022583, 2.506561577320099e-05, 0.28478315472602844], "quat_xyzw": [-0.5010489821434021, 0.4989488124847412, -0.49894896149635315, -0.5010488629341125]}, "link_5": {"xyz": [0.35079699754714966, 6.891787052154541e-08, 0.21061789989471436], "quat_xyzw": [0.498945951461792, 0.49895188212394714, -0.5010460615158081, -0.5010517835617065]}, "link_6": {"xyz": [0.31114909052848816, 4.630564944818616e-07, 0.17548410594463348], "quat_xyzw": [0.7071051001548767, 0.7071053981781006, -0.001480806153267622, -0.001489041605964303]}, "link_left_finger": {"xyz": [0.35009464621543884, -0.0202704519033432, 0.11481975018978119], "quat_xyzw": [0.5010458827018738, 0.49894607067108154, 0.4989517033100128, -0.5010519027709961]}, "link_right_finger": {"xyz": [0.2716953158378601, 0.020269358530640602, 0.11514950543642044], "quat_xyzw": [0.5010458827018738, 0.49894607067108154, 0.4989517033100128, -0.5010519027709961]}}}, {"t": 7.242, "phase": "lift", "bottle_xyz": [0.28171083331108093, 0.00018272423767484725, 0.054848868399858475], "bottle_quat_xyzw": [-0.0006320446263998747, -0.010330391116440296, -0.005047840531915426, 0.9999337792396545], "bottom_z": 0.005065920462409251, "q": [2.1391056748143455e-07, 1.7803479433059692, 1.190114140510559, -0.9846175909042358, -1.1809188436018303e-05, 6.932990004315798e-08, 0.016728131100535393, -0.016729293391108513], "target": [-1.026917006291539e-11, 1.7778916358947754, 1.1928099393844604, -0.9847643375396729, -2.0397197819654878e-11, -1.0491251964395154e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.01838628202676773, -3.6788320541381836, 0.3805121183395386], "link_right_finger": [-0.007699834182858467, 3.6785130500793457, 0.43411922454833984]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5495501160621643, 0.44496598839759827, 0.4449658989906311, -0.5495501756668091]}, "link_3": {"xyz": [0.07491760700941086, 2.5020912289619446e-05, 0.3722248375415802], "quat_xyzw": [-0.20566332340240479, 0.676537275314331, -0.676537275314331, -0.20566315948963165]}, "link_4": {"xyz": [0.3118595778942108, 2.5080516934394836e-05, 0.2857173979282379], "quat_xyzw": [-0.5010128021240234, 0.4989851415157318, -0.4989852011203766, -0.5010126829147339]}, "link_5": {"xyz": [0.3510591685771942, 8.381903171539307e-08, 0.21155783534049988], "quat_xyzw": [0.49898219108581543, 0.49898821115493774, -0.5010098218917847, -0.5010157227516174]}, "link_6": {"xyz": [0.311416357755661, 4.924513632431626e-07, 0.17641830444335938], "quat_xyzw": [0.7071053385734558, 0.7071053981781006, -0.0014294942375272512, -0.0014379356289282441]}, "link_left_finger": {"xyz": [0.3503706753253937, -0.020270641893148422, 0.11575958132743835], "quat_xyzw": [0.5010097622871399, 0.4989822208881378, 0.49898815155029297, -0.5010157823562622]}, "link_right_finger": {"xyz": [0.27197134494781494, 0.02027191035449505, 0.1160779595375061], "quat_xyzw": [0.5010097622871399, 0.4989822208881378, 0.49898815155029297, -0.5010157823562622]}}}, {"t": 7.262, "phase": "lift", "bottle_xyz": [0.2820107042789459, 0.00018385969451628625, 0.055833324790000916], "bottle_quat_xyzw": [-0.0006391176721081138, -0.010981135070323944, -0.005146239884197712, 0.9999263286590576], "bottom_z": 0.006029689582852632, "q": [-1.9750149959918417e-08, 1.7799932956695557, 1.1939181089401245, -0.9886207580566406, -1.1225246453250293e-05, 1.47159624930282e-07, 0.016727890819311142, -0.016727253794670105], "target": [-1.1964678379994265e-11, 1.7775355577468872, 1.1966153383255005, -0.9887690544128418, -2.3764911913359832e-11, -1.2223427131585751e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.009997867047786713, -3.676372766494751, 0.3762814402580261], "link_right_finger": [-0.018151791766285896, 3.6770176887512207, 0.4318532645702362]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5494712591171265, 0.44506338238716125, 0.44506338238716125, -0.5494712591171265]}, "link_3": {"xyz": [0.07482603937387466, 2.5002285838127136e-05, 0.37224429845809937], "quat_xyzw": [-0.2042560577392578, 0.6769634485244751, -0.6769634485244751, -0.20425598323345184]}, "link_4": {"xyz": [0.31212568283081055, 2.503208816051483e-05, 0.28672298789024353], "quat_xyzw": [-0.5009739398956299, 0.4990241229534149, -0.4990241527557373, -0.5009738802909851]}, "link_5": {"xyz": [0.351336807012558, 2.7939677238464355e-08, 0.21256953477859497], "quat_xyzw": [0.4990213215351105, 0.49902695417404175, -0.5009711384773254, -0.5009767413139343]}, "link_6": {"xyz": [0.31169945001602173, 4.2584724724292755e-07, 0.1774238497018814], "quat_xyzw": [0.7071055173873901, 0.7071054577827454, -0.0013747563352808356, -0.001382699003443122]}, "link_left_finger": {"xyz": [0.3506632149219513, -0.020270995795726776, 0.11677119135856628], "quat_xyzw": [0.5009711980819702, 0.4990213215351105, 0.49902698397636414, -0.5009767413139343]}, "link_right_finger": {"xyz": [0.2722637951374054, 0.020273854956030846, 0.11707737296819687], "quat_xyzw": [0.5009711980819702, 0.4990213215351105, 0.49902698397636414, -0.5009767413139343]}}}, {"t": 7.282, "phase": "lift", "bottle_xyz": [0.28232669830322266, 0.00018488823843654245, 0.05688729137182236], "bottle_quat_xyzw": [-0.0006450281944125891, -0.011632686480879784, -0.005246550776064396, 0.9999184012413025], "bottom_z": 0.007063032012954239, "q": [8.235432602532455e-08, 1.7796143293380737, 1.1979800462722778, -0.9928954243659973, -1.1346155588398688e-05, 6.88972434659263e-08, 0.0167273860424757, -0.016725432127714157], "target": [-1.3774909164709914e-11, 1.7771552801132202, 1.2006783485412598, -0.9930447936058044, -2.7360492343975196e-11, -1.4072806288345507e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.005465120077133179, -3.676792621612549, 0.37498265504837036], "link_right_finger": [0.004840581677854061, 3.6767542362213135, 0.4278627038002014]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5493868589401245, 0.4451674520969391, 0.4451674222946167, -0.5493868589401245]}, "link_3": {"xyz": [0.07472821325063705, 2.5017186999320984e-05, 0.3722650110721588], "quat_xyzw": [-0.20275242626667023, 0.6774153113365173, -0.6774153113365173, -0.20275232195854187]}, "link_4": {"xyz": [0.3124052882194519, 2.504698932170868e-05, 0.28779834508895874], "quat_xyzw": [-0.500932514667511, 0.4990657866001129, -0.4990658164024353, -0.5009324550628662]}, "link_5": {"xyz": [0.35162875056266785, 5.774199962615967e-08, 0.2136513888835907], "quat_xyzw": [0.4990629255771637, 0.49906864762306213, -0.500929594039917, -0.5009353160858154]}, "link_6": {"xyz": [0.3119972348213196, 4.5666820369660854e-07, 0.17849910259246826], "quat_xyzw": [0.7071055769920349, 0.7071055769920349, -0.0013158735819160938, -0.0013239848194643855]}, "link_left_finger": {"xyz": [0.3509711027145386, -0.020271454006433487, 0.11785292625427246], "quat_xyzw": [0.500929594039917, 0.4990629255771637, 0.49906864762306213, -0.5009353160858154]}, "link_right_finger": {"xyz": [0.2725716531276703, 0.02027571201324463, 0.11814607679843903], "quat_xyzw": [0.500929594039917, 0.4990629255771637, 0.49906864762306213, -0.5009353160858154]}}}, {"t": 7.302, "phase": "lift", "bottle_xyz": [0.28265732526779175, 0.00018569687381386757, 0.05800912529230118], "bottle_quat_xyzw": [-0.000651840993668884, -0.012294989079236984, -0.005342714488506317, 0.9999099373817444], "bottom_z": 0.008163925441801882, "q": [8.75719692317034e-08, 1.7792119979858398, 1.2022926807403564, -0.9974320530891418, -1.1403504686313681e-05, 1.4939067227714986e-07, 0.01672666147351265, -0.01672375202178955], "target": [-1.569676159884903e-11, 1.7767515182495117, 1.2049918174743652, -0.9975841045379639, -3.117778257788473e-11, -1.603622096224555e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.0037558525800704956, -3.676851749420166, 0.37358903884887695], "link_right_finger": [0.003931738436222076, 3.6771793365478516, 0.4241335391998291]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5492972731590271, 0.44527798891067505, 0.4452778995037079, -0.5492973327636719]}, "link_3": {"xyz": [0.07462429255247116, 2.5020912289619446e-05, 0.37228700518608093], "quat_xyzw": [-0.201154887676239, 0.6778913736343384, -0.6778914332389832, -0.20115473866462708]}, "link_4": {"xyz": [0.31269702315330505, 2.5080516934394836e-05, 0.2889419198036194], "quat_xyzw": [-0.5008879899978638, 0.4991104304790497, -0.49911054968833923, -0.500887930393219]}, "link_5": {"xyz": [0.35193371772766113, 8.381903171539307e-08, 0.21480196714401245], "quat_xyzw": [0.49910759925842285, 0.49911338090896606, -0.5008851289749146, -0.5008907914161682]}, "link_6": {"xyz": [0.31230849027633667, 4.839967004954815e-07, 0.17964260280132294], "quat_xyzw": [0.7071056962013245, 0.7071056962013245, -0.0012528164079412818, -0.0012608945835381746]}, "link_left_finger": {"xyz": [0.3512931764125824, -0.0202721506357193, 0.11900340020656586], "quat_xyzw": [0.5008850693702698, 0.49910762906074524, 0.4991133213043213, -0.5008907914161682]}, "link_right_finger": {"xyz": [0.27289366722106934, 0.020277416333556175, 0.1192825585603714], "quat_xyzw": [0.5008850693702698, 0.49910762906074524, 0.4991133213043213, -0.5008907914161682]}}}, {"t": 7.322, "phase": "lift", "bottle_xyz": [0.28300046920776367, 0.00018629603437148035, 0.05919715389609337], "bottle_quat_xyzw": [-0.0006586367962881923, -0.012964836321771145, -0.005437804851680994, 0.9999009966850281], "bottom_z": 0.009330822171997669, "q": [1.8304305626770656e-07, 1.7787868976593018, 1.2068485021591187, -1.0022265911102295, -1.1672416803776287e-05, -4.378740570132322e-08, 0.016725808382034302, -0.016722312197089195], "target": [-1.7727133996836564e-11, 1.7763251066207886, 1.209548830986023, -1.0023797750473022, -3.521062261202523e-11, -1.811050268085701e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.011373281478881836, -3.676579713821411, 0.3791508078575134], "link_right_finger": [0.003547349013388157, 3.6771950721740723, 0.4256505072116852]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5492026209831238, 0.4453947842121124, 0.4453946650028229, -0.5492027401924133]}, "link_3": {"xyz": [0.07451445609331131, 2.5020912289619446e-05, 0.37231025099754333], "quat_xyzw": [-0.1994660496711731, 0.6783902645111084, -0.6783902645111084, -0.19946584105491638]}, "link_4": {"xyz": [0.31299930810928345, 2.5095418095588684e-05, 0.29015201330184937], "quat_xyzw": [-0.5008415579795837, 0.4991570711135864, -0.4991571605205536, -0.5008413791656494]}, "link_5": {"xyz": [0.35224980115890503, 1.1362135410308838e-07, 0.21601936221122742], "quat_xyzw": [0.49915415048599243, 0.49916011095046997, -0.500838577747345, -0.5008443593978882]}, "link_6": {"xyz": [0.31263110041618347, 5.194160621613264e-07, 0.18085260689258575], "quat_xyzw": [0.7071056962013245, 0.7071058750152588, -0.001186845824122429, -0.0011951655615121126]}, "link_left_finger": {"xyz": [0.35162708163261414, -0.020272936671972275, 0.12022066116333008], "quat_xyzw": [0.5008384585380554, 0.4991542100906372, 0.4991599917411804, -0.500844419002533]}, "link_right_finger": {"xyz": [0.2732275128364563, 0.020278900861740112, 0.12048523873090744], "quat_xyzw": [0.5008384585380554, 0.4991542100906372, 0.4991599917411804, -0.500844419002533]}}}, {"t": 7.342, "phase": "lift", "bottle_xyz": [0.28335481882095337, 0.00018698535859584808, 0.06044921651482582], "bottle_quat_xyzw": [-0.0006793487118557096, -0.01362539455294609, -0.005530437920242548, 0.9998916983604431], "bottom_z": 0.010562132675060579, "q": [3.416045899484743e-07, 1.7783398628234863, 1.2116398811340332, -1.0072715282440186, -1.2181027159385849e-05, -4.782868856523237e-08, 0.01672489382326603, -0.016721006482839584], "target": [-1.9862927275182685e-11, 1.7758764028549194, 1.214342474937439, -1.0074244737625122, -3.9452854178056995e-11, -2.029248470647449e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.005232676863670349, -3.6762614250183105, 0.3733627200126648], "link_right_finger": [0.00237055285833776, 3.6760945320129395, 0.42091742157936096]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5491030216217041, 0.44551756978034973, 0.445517361164093, -0.5491031408309937]}, "link_3": {"xyz": [0.07439898699522018, 2.5039538741111755e-05, 0.3723345696926117], "quat_xyzw": [-0.19768854975700378, 0.6789103150367737, -0.6789104342460632, -0.1976882666349411]}, "link_4": {"xyz": [0.3133109509944916, 2.514384686946869e-05, 0.29142674803733826], "quat_xyzw": [-0.5007932782173157, 0.49920547008514404, -0.49920567870140076, -0.5007930994033813]}, "link_5": {"xyz": [0.35257577896118164, 1.5459954738616943e-07, 0.21730169653892517], "quat_xyzw": [0.4992024898529053, 0.4992086887359619, -0.5007902383804321, -0.5007961392402649]}, "link_6": {"xyz": [0.3129638731479645, 5.654728738591075e-07, 0.18212728202342987], "quat_xyzw": [0.707105815410614, 0.7071059942245483, -0.001118313753977418, -0.0011268906528130174]}, "link_left_finger": {"xyz": [0.3519715964794159, -0.020273784175515175, 0.12150289118289948], "quat_xyzw": [0.5007900595664978, 0.49920257925987244, 0.4992085099220276, -0.5007962584495544]}, "link_right_finger": {"xyz": [0.27357199788093567, 0.020280277356505394, 0.1217522919178009], "quat_xyzw": [0.5007900595664978, 0.49920257925987244, 0.4992085099220276, -0.5007962584495544]}}}, {"t": 7.362, "phase": "lift", "bottle_xyz": [0.2837196886539459, 0.00018738783546723425, 0.06176469847559929], "bottle_quat_xyzw": [-0.0006994925788603723, -0.014286740683019161, -0.005625782068818808, 0.9998819231987], "bottom_z": 0.011856924779422982, "q": [3.467771989562607e-07, 1.7778712511062622, 1.2166615724563599, -1.0125558376312256, -1.2065524970239494e-05, -1.0696405183807656e-07, 0.01672385446727276, -0.016719799488782883], "target": [-2.2101039748312346e-11, 1.7754062414169312, 1.2193657159805298, -1.0127108097076416, -4.3898319007640296e-11, -2.257899769930738e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.009303957223892212, -3.6745715141296387, 0.36875244975090027], "link_right_finger": [0.01111195981502533, 3.6762027740478516, 0.40886762738227844]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5489985942840576, 0.44564616680145264, 0.4456459879875183, -0.5489987730979919]}, "link_3": {"xyz": [0.07427794486284256, 2.5024637579917908e-05, 0.3723600208759308], "quat_xyzw": [-0.19582413136959076, 0.679450511932373, -0.679450511932373, -0.1958238184452057]}, "link_4": {"xyz": [0.31363052129745483, 2.512894570827484e-05, 0.2927650809288025], "quat_xyzw": [-0.5007418990135193, 0.49925708770751953, -0.4992572069168091, -0.5007416605949402]}, "link_5": {"xyz": [0.3529106378555298, 1.5459954738616943e-07, 0.21864812076091766], "quat_xyzw": [0.499254047870636, 0.4992603063583374, -0.500738799571991, -0.5007447600364685]}, "link_6": {"xyz": [0.31330597400665283, 5.705805961042643e-07, 0.18346554040908813], "quat_xyzw": [0.7071058750152588, 0.7071061730384827, -0.0010454660514369607, -0.0010541045339778066]}, "link_left_finger": {"xyz": [0.3523261845111847, -0.02027481608092785, 0.12284916639328003], "quat_xyzw": [0.5007386207580566, 0.4992542266845703, 0.4992601275444031, -0.5007449388504028]}, "link_right_finger": {"xyz": [0.2739264965057373, 0.02028149552643299, 0.12308242917060852], "quat_xyzw": [0.5007386207580566, 0.4992542266845703, 0.4992601275444031, -0.5007449388504028]}}}, {"t": 7.382, "phase": "lift", "bottle_xyz": [0.28409284353256226, 0.00018773687770590186, 0.0631415992975235], "bottle_quat_xyzw": [-0.0007151254103519022, -0.014947180636227131, -0.005719765089452267, 0.9998716711997986], "bottom_z": 0.013213251267914748, "q": [2.7486595399750513e-07, 1.7773821353912354, 1.2219053506851196, -1.018075704574585, -1.1822994565591216e-05, -2.3965424134075874e-07, 0.016722727566957474, -0.016718687489628792], "target": [-2.4438371465373976e-11, 1.774915337562561, 1.2246116399765015, -1.0182315111160278, -4.8540855362988466e-11, -2.4966877523735498e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.006926238536834717, -3.67615008354187, 0.38807469606399536], "link_right_finger": [0.01339702308177948, 3.676079750061035, 0.43694910407066345]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5488896369934082, 0.4457804560661316, 0.44578027725219727, -0.5488897562026978]}, "link_3": {"xyz": [0.07415153831243515, 2.5024637579917908e-05, 0.37238654494285583], "quat_xyzw": [-0.19387567043304443, 0.6800090074539185, -0.6800090670585632, -0.19387540221214294]}, "link_4": {"xyz": [0.31395649909973145, 2.5121495127677917e-05, 0.29416510462760925], "quat_xyzw": [-0.5006886720657349, 0.4993104338645935, -0.49931061267852783, -0.5006884932518005]}, "link_5": {"xyz": [0.3532524108886719, 1.3224780559539795e-07, 0.22005650401115417], "quat_xyzw": [0.49930745363235474, 0.4993135333061218, -0.5006856322288513, -0.5006914138793945]}, "link_6": {"xyz": [0.313655287027359, 5.424371920526028e-07, 0.18486550450325012], "quat_xyzw": [0.7071059346199036, 0.7071062922477722, -0.0009702120441943407, -0.0009786112932488322]}, "link_left_finger": {"xyz": [0.35268840193748474, -0.020275989547371864, 0.12425746768712997], "quat_xyzw": [0.500685453414917, 0.49930769205093384, 0.4993133842945099, -0.5006916522979736]}, "link_right_finger": {"xyz": [0.2742886543273926, 0.020282559096813202, 0.12447400391101837], "quat_xyzw": [0.500685453414917, 0.49930769205093384, 0.4993133842945099, -0.5006916522979736]}}}, {"t": 7.402, "phase": "lift", "bottle_xyz": [0.28447285294532776, 0.0001909569400595501, 0.06457839161157608], "bottle_quat_xyzw": [-0.0007304593455046415, -0.01561406347900629, -0.00581735372543335, 0.999860942363739], "bottom_z": 0.01462935672510475, "q": [2.5581275053809804e-07, 1.776872992515564, 1.2273645401000977, -1.0238227844238281, -8.918506864574738e-06, -1.7326543684248463e-06, 0.016721339896321297, -0.016717568039894104], "target": [-2.687182074079253e-11, 1.7744041681289673, 1.23007333278656, -1.0239791870117188, -5.337431191465569e-11, -2.745295310524476e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.012554846704006195, -3.5725111961364746, 0.35958096385002136], "link_right_finger": [0.02927892655134201, 3.6341400146484375, 0.42370176315307617]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5487760901451111, 0.4459201395511627, 0.4459199607372284, -0.5487762093544006]}, "link_3": {"xyz": [0.07402000576257706, 2.5039538741111755e-05, 0.3724140524864197], "quat_xyzw": [-0.19184556603431702, 0.6805845499038696, -0.6805846095085144, -0.19184529781341553]}, "link_4": {"xyz": [0.31428754329681396, 2.5136396288871765e-05, 0.295625239610672], "quat_xyzw": [-0.5006334781646729, 0.49936583638191223, -0.49936598539352417, -0.5006332397460938]}, "link_5": {"xyz": [0.3535998463630676, 1.6205012798309326e-07, 0.22152534127235413], "quat_xyzw": [0.499363511800766, 0.49936819076538086, -0.5006311535835266, -0.5006354451179504]}, "link_6": {"xyz": [0.31401050090789795, 4.721514414995909e-07, 0.18632559478282928], "quat_xyzw": [0.7071055173873901, 0.7071069478988647, -0.0008930542389862239, -0.000899394741281867]}, "link_left_finger": {"xyz": [0.35305705666542053, -0.02027755230665207, 0.12572623789310455], "quat_xyzw": [0.5006305575370789, 0.49936413764953613, 0.4993675947189331, -0.5006360411643982]}, "link_right_finger": {"xyz": [0.2746572494506836, 0.02028336003422737, 0.12592531740665436], "quat_xyzw": [0.5006305575370789, 0.49936413764953613, 0.4993675947189331, -0.5006360411643982]}}}, {"t": 7.422, "phase": "lift", "bottle_xyz": [0.28485822677612305, 0.00019798820721916854, 0.06607339531183243], "bottle_quat_xyzw": [-0.0007313310634344816, -0.016265003010630608, -0.005921490024775267, 0.9998499751091003], "bottom_z": 0.016104254194442863, "q": [3.085533819557895e-07, 1.776344656944275, 1.2330323457717896, -1.0297902822494507, -1.225473897648044e-05, -9.92831132862193e-08, 0.01671084389090538, -0.016707710921764374], "target": [-2.939828935843991e-11, 1.7738734483718872, 1.2357438802719116, -1.0299466848373413, -5.83925199859614e-11, -3.0034058573491507e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.00866793841123581, -3.6705565452575684, 0.35670673847198486], "link_right_finger": [0.0135494414716959, 3.67165207862854, 0.4251077175140381]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5486583113670349, 0.44606512784957886, 0.44606494903564453, -0.5486584901809692]}, "link_3": {"xyz": [0.07388343662023544, 2.5024637579917908e-05, 0.3724426329135895], "quat_xyzw": [-0.18973620235919952, 0.6811756491661072, -0.681175708770752, -0.18973588943481445]}, "link_4": {"xyz": [0.3146222233772278, 2.514384686946869e-05, 0.29714399576187134], "quat_xyzw": [-0.500576376914978, 0.49942299723625183, -0.49942320585250854, -0.5005761981010437]}, "link_5": {"xyz": [0.35395145416259766, 1.6205012798309326e-07, 0.22305308282375336], "quat_xyzw": [0.4994199573993683, 0.4994262456893921, -0.5005733370780945, -0.5005792379379272]}, "link_6": {"xyz": [0.31437015533447266, 5.720066837966442e-07, 0.18784427642822266], "quat_xyzw": [0.7071061730384827, 0.7071065306663513, -0.0008111241040751338, -0.000819725391920656]}, "link_left_finger": {"xyz": [0.35343050956726074, -0.02028782293200493, 0.12725375592708588], "quat_xyzw": [0.5005730986595154, 0.499420166015625, 0.499426007270813, -0.5005794167518616]}, "link_right_finger": {"xyz": [0.2750307023525238, 0.020293572917580605, 0.12743505835533142], "quat_xyzw": [0.5005730986595154, 0.499420166015625, 0.499426007270813, -0.5005794167518616]}}}, {"t": 7.442, "phase": "lift", "bottle_xyz": [0.2852478623390198, 0.00019879452884197235, 0.06762540340423584], "bottle_quat_xyzw": [-0.0007321290904656053, -0.016923628747463226, -0.006024477072060108, 0.9998384118080139], "bottom_z": 0.017636004713682894, "q": [3.252230271755252e-07, 1.7757971286773682, 1.2389016151428223, -1.035969614982605, -1.2095567399228457e-05, 2.2545060573975206e-07, 0.016703562811017036, -0.016700701788067818], "target": [-3.2014675632741074e-11, 1.7733237743377686, 1.241616129875183, -1.0361264944076538, -6.358933518635368e-11, -3.270702805813208e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.00957150012254715, -3.7154014110565186, 0.3697987496852875], "link_right_finger": [0.008106179535388947, 3.7150087356567383, 0.43352508544921875]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5485361218452454, 0.44621527194976807, 0.44621509313583374, -0.5485363006591797]}, "link_3": {"xyz": [0.07374196499586105, 2.5024637579917908e-05, 0.37247201800346375], "quat_xyzw": [-0.18754969537258148, 0.6817808747291565, -0.6817809343338013, -0.1875494122505188]}, "link_4": {"xyz": [0.31495893001556396, 2.512894570827484e-05, 0.29871970415115356], "quat_xyzw": [-0.5005170702934265, 0.4994824528694153, -0.4994826316833496, -0.5005168318748474]}, "link_5": {"xyz": [0.3543057441711426, 1.471489667892456e-07, 0.22463813424110413], "quat_xyzw": [0.49947941303253174, 0.49948570132255554, -0.500514030456543, -0.5005199313163757]}, "link_6": {"xyz": [0.31473278999328613, 5.572073860093951e-07, 0.1894199252128601], "quat_xyzw": [0.7071064114570618, 0.7071065306663513, -0.0007271530339494348, -0.0007357520516961813]}, "link_left_finger": {"xyz": [0.3538075387477875, -0.020295139402151108, 0.1288386881351471], "quat_xyzw": [0.5005139112472534, 0.4994795322418213, 0.4994855523109436, -0.5005200505256653]}, "link_right_finger": {"xyz": [0.27540770173072815, 0.020300589501857758, 0.12900136411190033], "quat_xyzw": [0.5005139112472534, 0.4994795322418213, 0.4994855523109436, -0.5005200505256653]}}}, {"t": 7.462, "phase": "lift", "bottle_xyz": [0.285640150308609, 0.00019936246098950505, 0.0692325085401535], "bottle_quat_xyzw": [-0.0007388226222246885, -0.0176167543977499, -0.006134727969765663, 0.9998257160186768], "bottom_z": 0.019221884213860396, "q": [5.169069368093915e-07, 1.7752324342727661, 1.2449655532836914, -1.0423526763916016, -1.2704247637884691e-05, 3.4819927918761095e-07, 0.016706189140677452, -0.016703519970178604], "target": [-3.471787787812097e-11, 1.7727559804916382, 1.2476832866668701, -1.0425113439559937, -6.895858190025805e-11, -3.5468687015205447e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.017945818603038788, -3.6764204502105713, 0.36018747091293335], "link_right_finger": [0.01440141536295414, 3.6763100624084473, 0.4268760681152344]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.5484101176261902, 0.4463702440261841, 0.4463699460029602, -0.5484103560447693]}, "link_3": {"xyz": [0.07359594851732254, 2.5043264031410217e-05, 0.3725023865699768], "quat_xyzw": [-0.18528908491134644, 0.6823987364768982, -0.682398796081543, -0.18528865277767181]}, "link_4": {"xyz": [0.315296471118927, 2.5199726223945618e-05, 0.3003506660461426], "quat_xyzw": [-0.5004557967185974, 0.4995438754558563, -0.4995441436767578, -0.5004554390907288]}, "link_5": {"xyz": [0.3546614944934845, 2.3283064365386963e-07, 0.22627876698970795], "quat_xyzw": [0.49954068660736084, 0.4995473623275757, -0.5004525780677795, -0.5004586577415466]}, "link_6": {"xyz": [0.31509721279144287, 6.493355613201857e-07, 0.19105082750320435], "quat_xyzw": [0.7071064114570618, 0.7071065902709961, -0.0006400785641744733, -0.0006490924279205501]}, "link_left_finger": {"xyz": [0.3541868329048157, -0.020292365923523903, 0.13047918677330017], "quat_xyzw": [0.5004523396492004, 0.49954086542129517, 0.4995470941066742, -0.500458836555481]}, "link_right_finger": {"xyz": [0.27578696608543396, 0.020297881215810776, 0.13062264025211334], "quat_xyzw": [0.5004523396492004, 0.49954086542129517, 0.4995470941066742, -0.500458836555481]}}}, {"t": 7.482, "phase": "lift", "bottle_xyz": [0.28603366017341614, 0.00019898057507816702, 0.07089304178953171], "bottle_quat_xyzw": [-0.000743345357477665, -0.018308112397789955, -0.006243950687348843, 0.9998126029968262], "bottom_z": 0.020861341639730295, "q": [2.5907314693540684e-07, 1.7746493816375732, 1.2512176036834717, -1.048933744430542, -1.1922110388695728e-05, 7.773458321480575e-08, 0.01670815609395504, -0.01670568808913231], "target": [-3.750479440900456e-11, 1.7721705436706543, 1.2539383172988892, -1.0490939617156982, -7.449411226767566e-11, -3.831587477853837e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.015500105917453766, -3.6519217491149902, 0.36272749304771423], "link_right_finger": [0.007074333727359772, 3.6517584323883057, 0.42539671063423157]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5482800006866455, 0.4465300142765045, 0.4465298354625702, -0.5482801198959351]}, "link_3": {"xyz": [0.07344525307416916, 2.5039538741111755e-05, 0.37253352999687195], "quat_xyzw": [-0.1829558163881302, 0.6830279231071472, -0.6830280423164368, -0.1829555481672287]}, "link_4": {"xyz": [0.31563323736190796, 2.512894570827484e-05, 0.30203548073768616], "quat_xyzw": [-0.5003922581672668, 0.49960747361183167, -0.4996076822280884, -0.5003920793533325]}, "link_5": {"xyz": [0.3550170958042145, 1.471489667892456e-07, 0.2279735803604126], "quat_xyzw": [0.4996044933795929, 0.49961063265800476, -0.5003892779350281, -0.5003950595855713]}, "link_6": {"xyz": [0.3154617249965668, 5.495676305145025e-07, 0.19273559749126434], "quat_xyzw": [0.7071064710617065, 0.7071067690849304, -0.0005505946464836597, -0.0005590026266872883]}, "link_left_finger": {"xyz": [0.3545667827129364, -0.020290551707148552, 0.13217389583587646], "quat_xyzw": [0.5003890991210938, 0.4996047019958496, 0.49961042404174805, -0.5003952383995056]}, "link_right_finger": {"xyz": [0.2761668562889099, 0.02029556594789028, 0.13229739665985107], "quat_xyzw": [0.5003890991210938, 0.4996047019958496, 0.49961042404174805, -0.5003952383995056]}}}, {"t": 7.502, "phase": "lift", "bottle_xyz": [0.286426305770874, 0.00019903003703802824, 0.07260587066411972], "bottle_quat_xyzw": [-0.0007496795733459294, -0.0189935564994812, -0.006352233234792948, 0.9997991919517517], "bottom_z": 0.022553369102120108, "q": [3.0662789640700794e-07, 1.7740490436553955, 1.257650375366211, -1.0557069778442383, -1.1822531632788014e-05, -1.9420248520418681e-07, 0.016705229878425598, -0.016703028231859207], "target": [-4.037232700926374e-11, 1.7715681791305542, 1.2603743076324463, -1.0558669567108154, -8.018977148971373e-11, -4.1245423743063725e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.006280034780502319, -3.6682252883911133, 0.3712667226791382], "link_right_finger": [0.025080528110265732, 3.668609619140625, 0.42012888193130493]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5481459498405457, 0.44669458270072937, 0.44669440388679504, -0.5481460690498352]}, "link_3": {"xyz": [0.07329001277685165, 2.5039538741111755e-05, 0.3725655972957611], "quat_xyzw": [-0.18055276572704315, 0.6836671233177185, -0.6836671829223633, -0.18055251240730286]}, "link_4": {"xyz": [0.3159678876399994, 2.512894570827484e-05, 0.30377262830734253], "quat_xyzw": [-0.5003272891044617, 0.49967247247695923, -0.49967262148857117, -0.5003271102905273]}, "link_5": {"xyz": [0.35537096858024597, 1.3969838619232178e-07, 0.22972097992897034], "quat_xyzw": [0.49966952204704285, 0.4996756315231323, -0.5003243088722229, -0.5003301501274109]}, "link_6": {"xyz": [0.3158247768878937, 5.413166945800185e-07, 0.19447271525859833], "quat_xyzw": [0.7071064710617065, 0.7071068286895752, -0.00045869647874496877, -0.00046712474431842566]}, "link_left_finger": {"xyz": [0.354945570230484, -0.020293474197387695, 0.13392120599746704], "quat_xyzw": [0.5003241300582886, 0.4996697008609772, 0.4996753931045532, -0.5003303289413452]}, "link_right_finger": {"xyz": [0.27654561400413513, 0.02029820904135704, 0.13402432203292847], "quat_xyzw": [0.5003241300582886, 0.4996697008609772, 0.4996753931045532, -0.5003303289413452]}}}, {"t": 7.522, "phase": "lift", "bottle_xyz": [0.2868172824382782, 0.00019914440053980798, 0.07436899095773697], "bottle_quat_xyzw": [-0.0007562160608358681, -0.019690275192260742, -0.0064618694595992565, 0.9997850060462952], "bottom_z": 0.024295441954753423, "q": [1.7621546533064247e-07, 1.7734323740005493, 1.2642573118209839, -1.0626628398895264, -1.1446105418144725e-05, -8.798882333849178e-08, 0.01670222543179989, -0.01670033670961857], "target": [-4.3317377462770423e-11, 1.7709496021270752, 1.266984224319458, -1.0628230571746826, -8.60393908896917e-11, -4.4254159364820467e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.008175268769264221, -3.681406259536743, 0.37306010723114014], "link_right_finger": [-0.00014382973313331604, 3.680429458618164, 0.42791956663131714]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5480082035064697, 0.4468635022640228, 0.44686341285705566, -0.5480082631111145]}, "link_3": {"xyz": [0.07313058525323868, 2.5020912289619446e-05, 0.3725983798503876], "quat_xyzw": [-0.17808228731155396, 0.6843147873878479, -0.6843148469924927, -0.17808213829994202]}, "link_4": {"xyz": [0.31629905104637146, 2.5073066353797913e-05, 0.3055602014064789], "quat_xyzw": [-0.5002604126930237, 0.49973949790000916, -0.4997395873069763, -0.5002602934837341]}, "link_5": {"xyz": [0.35572195053100586, 9.12696123123169e-08, 0.23151910305023193], "quat_xyzw": [0.49973663687705994, 0.49974244832992554, -0.5002575516700745, -0.5002631545066833]}, "link_6": {"xyz": [0.3161851763725281, 4.7619687393307686e-07, 0.1962602734565735], "quat_xyzw": [0.7071066498756409, 0.7071068286895752, -0.0003642242809291929, -0.0003723115660250187]}, "link_left_finger": {"xyz": [0.3553221821784973, -0.02029658667743206, 0.13571922481060028], "quat_xyzw": [0.5002574324607849, 0.4997367560863495, 0.499742329120636, -0.5002632737159729]}, "link_right_finger": {"xyz": [0.27692216634750366, 0.020300820469856262, 0.13580134510993958], "quat_xyzw": [0.5002574324607849, 0.4997367560863495, 0.499742329120636, -0.5002632737159729]}}}, {"t": 7.542, "phase": "lift", "bottle_xyz": [0.28720495104789734, 0.00019925001834053546, 0.07618062198162079], "bottle_quat_xyzw": [-0.0007594352355226874, -0.02039501629769802, -0.006569650489836931, 0.9997701644897461], "bottom_z": 0.026085882151981328, "q": [1.8955068981085788e-07, 1.772800326347351, 1.271031141281128, -1.0697946548461914, -1.138784227805445e-05, -6.37287271842979e-08, 0.01670149527490139, -0.01669992320239544], "target": [-4.6336837145055654e-11, 1.7703152894973755, 1.2737611532211304, -1.0699548721313477, -9.20368156687168e-11, -4.733892097763537e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03350307047367096, -3.6735832691192627, 0.36814218759536743], "link_right_finger": [-0.004308956675231457, 3.673959255218506, 0.41210538148880005]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.547866940498352, 0.44703665375709534, 0.4470365345478058, -0.5478670597076416]}, "link_3": {"xyz": [0.07296714931726456, 2.5006011128425598e-05, 0.37263190746307373], "quat_xyzw": [-0.17554713785648346, 0.6849694848060608, -0.6849695444107056, -0.17554691433906555]}, "link_4": {"xyz": [0.3166253864765167, 2.508796751499176e-05, 0.30739641189575195], "quat_xyzw": [-0.5001919865608215, 0.49980801343917847, -0.4998081922531128, -0.5001918077468872]}, "link_5": {"xyz": [0.35606858134269714, 1.0617077350616455e-07, 0.23336610198020935], "quat_xyzw": [0.49980512261390686, 0.49981099367141724, -0.5001890659332275, -0.5001946091651917]}, "link_6": {"xyz": [0.31654152274131775, 5.001638783141971e-07, 0.19809643924236298], "quat_xyzw": [0.7071066498756409, 0.70710688829422, -0.0002673521521501243, -0.0002753964508883655]}, "link_left_finger": {"xyz": [0.35569506883621216, -0.020297300070524216, 0.13756611943244934], "quat_xyzw": [0.500188946723938, 0.4998053014278412, 0.4998108446598053, -0.500194787979126]}, "link_right_finger": {"xyz": [0.2772950828075409, 0.020301250740885735, 0.1376267373561859], "quat_xyzw": [0.500188946723938, 0.4998053014278412, 0.4998108446598053, -0.500194787979126]}}}, {"t": 7.562, "phase": "lift", "bottle_xyz": [0.2875880300998688, 0.00019928277470171452, 0.07803921401500702], "bottle_quat_xyzw": [-0.0007645091391168535, -0.021099083125591278, -0.00667799636721611, 0.9997548460960388], "bottom_z": 0.027923402628189285, "q": [1.4337166476252605e-07, 1.7721529006958008, 1.2779654264450073, -1.07709538936615, -1.1164005627506413e-05, 2.4916779750583373e-08, 0.016700999811291695, -0.01669972389936447], "target": [-4.942761477888524e-11, 1.769666075706482, 1.2806981801986694, -1.077255129814148, -9.817588408900235e-11, -5.0496540976441295e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02302233874797821, -3.6670784950256348, 0.37779533863067627], "link_right_finger": [0.0023965192958712578, 3.6669182777404785, 0.42699629068374634]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5477222204208374, 0.4472140371799469, 0.44721394777297974, -0.547722339630127]}, "link_3": {"xyz": [0.07279963046312332, 2.5006011128425598e-05, 0.37266620993614197], "quat_xyzw": [-0.17294923961162567, 0.6856300830841064, -0.6856300830841064, -0.17294903099536896]}, "link_4": {"xyz": [0.31694549322128296, 2.508796751499176e-05, 0.3092799186706543], "quat_xyzw": [-0.5001217126846313, 0.49987831711769104, -0.4998784065246582, -0.500121533870697]}, "link_5": {"xyz": [0.35640949010849, 1.0617077350616455e-07, 0.23526069521903992], "quat_xyzw": [0.4998754560947418, 0.49988123774528503, -0.5001188516616821, -0.5001243948936462]}, "link_6": {"xyz": [0.3168923258781433, 4.870817065238953e-07, 0.19997991621494293], "quat_xyzw": [0.7071067094802856, 0.70710688829422, -0.00016801574383862317, -0.0001760125014698133]}, "link_left_finger": {"xyz": [0.3560628890991211, -0.020297810435295105, 0.13946060836315155], "quat_xyzw": [0.5001187324523926, 0.49987557530403137, 0.4998811185359955, -0.5001245141029358]}, "link_right_finger": {"xyz": [0.27766287326812744, 0.020301437005400658, 0.13949920237064362], "quat_xyzw": [0.5001187324523926, 0.49987557530403137, 0.4998811185359955, -0.5001245141029358]}}}, {"t": 7.582, "phase": "lift", "bottle_xyz": [0.28796520829200745, 0.00019932174473069608, 0.07994318008422852], "bottle_quat_xyzw": [-0.0007671918720006943, -0.021800391376018524, -0.006785946432501078, 0.9997390508651733], "bottom_z": 0.029806478396799896, "q": [2.5759337063391285e-07, 1.7714909315109253, 1.28505277633667, -1.0845568180084229, -1.1503129826451186e-05, 5.538238667668338e-08, 0.016699470579624176, -0.016698433086276054], "target": [-5.258660520923719e-11, 1.7690024375915527, 1.2877882719039917, -1.084716558456421, -1.044504482905495e-10, -5.372384481727721e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.0357079952955246, -3.6680734157562256, 0.3731711804866791], "link_right_finger": [0.0056029316037893295, 3.6705965995788574, 0.43570178747177124]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5475741624832153, 0.44739535450935364, 0.4473951458930969, -0.5475742816925049]}, "link_3": {"xyz": [0.07262840121984482, 2.5024637579917908e-05, 0.37270107865333557], "quat_xyzw": [-0.17029137909412384, 0.6862950325012207, -0.6862950921058655, -0.17029109597206116]}, "link_4": {"xyz": [0.3172581195831299, 2.512894570827484e-05, 0.31120866537094116], "quat_xyzw": [-0.5000497698783875, 0.49995025992393494, -0.49995043873786926, -0.5000495314598083]}, "link_5": {"xyz": [0.3567434251308441, 1.471489667892456e-07, 0.23720082640647888], "quat_xyzw": [0.4999473989009857, 0.49995332956314087, -0.5000468492507935, -0.5000524520874023]}, "link_6": {"xyz": [0.31723642349243164, 5.364854587242007e-07, 0.2019086629152298], "quat_xyzw": [0.7071067094802856, 0.7071069478988647, -6.613138248212636e-05, -7.429848483297974e-05]}, "link_left_finger": {"xyz": [0.35642439126968384, -0.02029927261173725, 0.14140063524246216], "quat_xyzw": [0.5000466704368591, 0.49994754791259766, 0.49995315074920654, -0.5000526309013367]}, "link_right_finger": {"xyz": [0.2780244052410126, 0.020302779972553253, 0.14141666889190674], "quat_xyzw": [0.5000466704368591, 0.49994754791259766, 0.49995315074920654, -0.5000526309013367]}}}, {"t": 7.602, "phase": "lift", "bottle_xyz": [0.2883349657058716, 0.00019971633446402848, 0.08189025521278381], "bottle_quat_xyzw": [-0.0007681709248572588, -0.022498678416013718, -0.0068918392062187195, 0.9997228980064392], "bottom_z": 0.031732851186587197, "q": [4.3581297859418555e-07, 1.7708154916763306, 1.292285680770874, -1.0921727418899536, -1.2044044524373021e-05, -2.8121208472953185e-08, 0.016697842627763748, -0.016696888953447342], "target": [-5.5810706750536454e-11, 1.7683252096176147, 1.2950246334075928, -1.0923317670822144, -1.1085433959667768e-10, -5.7017671833969885e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.0289151594042778, -3.6728389263153076, 0.362787663936615], "link_right_finger": [-0.00022511743009090424, 3.6726648807525635, 0.4254940450191498]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.5474229454994202, 0.4475802481174469, 0.4475799798965454, -0.5474231839179993]}, "link_3": {"xyz": [0.07245367020368576, 2.5043264031410217e-05, 0.37273654341697693], "quat_xyzw": [-0.16757641732692719, 0.6869630217552185, -0.6869630813598633, -0.16757601499557495]}, "link_4": {"xyz": [0.3175620436668396, 2.518482506275177e-05, 0.3131806254386902], "quat_xyzw": [-0.4999767541885376, 0.5000233054161072, -0.500023603439331, -0.49997642636299133]}, "link_5": {"xyz": [0.3570689857006073, 2.1792948246002197e-07, 0.23918431997299194], "quat_xyzw": [0.5000202655792236, 0.5000266432762146, -0.49997377395629883, -0.4999794661998749]}, "link_6": {"xyz": [0.31757229566574097, 6.082991603761911e-07, 0.20388060808181763], "quat_xyzw": [0.7071065902709961, 0.7071070671081543, 3.737171209650114e-05, 2.8843656764365733e-05]}, "link_left_finger": {"xyz": [0.35677796602249146, -0.020300788804888725, 0.14338400959968567], "quat_xyzw": [0.4999734163284302, 0.5000205636024475, 0.500026285648346, -0.49997979402542114]}, "link_right_finger": {"xyz": [0.2783779501914978, 0.02030441351234913, 0.1433771550655365], "quat_xyzw": [0.4999734163284302, 0.5000205636024475, 0.500026285648346, -0.49997979402542114]}}}, {"t": 7.622, "phase": "lift", "bottle_xyz": [0.28869619965553284, 0.00020001607481390238, 0.08387891948223114], "bottle_quat_xyzw": [-0.0007704582531005144, -0.0231997799128294, -0.006998675409704447, 0.9997060894966125], "bottom_z": 0.03370082767844323, "q": [5.133608738105977e-07, 1.770127296447754, 1.299657940864563, -1.0999345779418945, -1.233158036484383e-05, -1.9062943579228886e-07, 0.016696777194738388, -0.016695836558938026], "target": [-5.909681771720798e-11, 1.7676348686218262, 1.30239999294281, -1.1000934839248657, -1.173813962696002e-10, -6.037485095200523e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03890229016542435, -3.672452449798584, 0.37410861253738403], "link_right_finger": [-0.013000918552279472, 3.6707205772399902, 0.4341965317726135]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.5472689270973206, 0.44776859879493713, 0.44776830077171326, -0.5472691655158997]}, "link_3": {"xyz": [0.07227560132741928, 2.5043264031410217e-05, 0.37277260422706604], "quat_xyzw": [-0.16480645537376404, 0.6876327991485596, -0.6876328587532043, -0.16480602324008942]}, "link_4": {"xyz": [0.3178560137748718, 2.5192275643348694e-05, 0.3151942789554596], "quat_xyzw": [-0.49990206956863403, 0.500097930431366, -0.5000982284545898, -0.49990174174308777]}, "link_5": {"xyz": [0.3573850393295288, 2.1792948246002197e-07, 0.24120977520942688], "quat_xyzw": [0.5000948905944824, 0.5001013278961182, -0.4998989999294281, -0.4999048411846161]}, "link_6": {"xyz": [0.3178988993167877, 6.244517862796783e-07, 0.20589429140090942], "quat_xyzw": [0.7071065306663513, 0.7071071267127991, 0.00014308189565781504, 0.0001343914191238582]}, "link_left_finger": {"xyz": [0.35712262988090515, -0.020301813259720802, 0.14540939033031464], "quat_xyzw": [0.49989861249923706, 0.5000952482223511, 0.5001009702682495, -0.49990519881248474]}, "link_right_finger": {"xyz": [0.2787226140499115, 0.02030550129711628, 0.14537912607192993], "quat_xyzw": [0.49989861249923706, 0.5000952482223511, 0.5001009702682495, -0.49990519881248474]}}}, {"t": 7.642, "phase": "lift", "bottle_xyz": [0.28904762864112854, 0.00020016480993945152, 0.08590739220380783], "bottle_quat_xyzw": [-0.0007730145007371902, -0.023901930078864098, -0.007105118129402399, 0.9996887445449829], "bottom_z": 0.03570868028396614, "q": [4.915763724966382e-07, 1.769426703453064, 1.3071625232696533, -1.1078349351882935, -1.2272266758373007e-05, -2.559225720233371e-07, 0.016695881262421608, -0.016694918274879456], "target": [-6.244184336257064e-11, 1.7669322490692139, 1.3099076747894287, -1.1079943180084229, -1.2402547044931822e-10, -6.379221456631612e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02558641880750656, -3.6689987182617188, 0.37568309903144836], "link_right_finger": [0.007024895399808884, 3.66996169090271, 0.4235396385192871]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.5471120476722717, 0.4479602873325348, 0.4479600191116333, -0.5471122860908508]}, "link_3": {"xyz": [0.07209428399801254, 2.5043264031410217e-05, 0.37280917167663574], "quat_xyzw": [-0.16198401153087616, 0.6883031725883484, -0.6883032321929932, -0.16198360919952393]}, "link_4": {"xyz": [0.31813889741897583, 2.5192275643348694e-05, 0.31724777817726135], "quat_xyzw": [-0.4998258948326111, 0.5001741647720337, -0.5001744031906128, -0.4998255670070648]}, "link_5": {"xyz": [0.3576904833316803, 2.253800630569458e-07, 0.24327531456947327], "quat_xyzw": [0.5001710653305054, 0.5001775026321411, -0.49982279539108276, -0.49982863664627075]}, "link_6": {"xyz": [0.31821510195732117, 6.323098205029964e-07, 0.2079477608203888], "quat_xyzw": [0.7071064710617065, 0.7071071267127991, 0.0002508166362531483, 0.0002421376993879676]}, "link_left_finger": {"xyz": [0.3574572801589966, -0.020302699878811836, 0.14747484028339386], "quat_xyzw": [0.4998224079608917, 0.500171422958374, 0.5001770853996277, -0.4998289942741394]}, "link_right_finger": {"xyz": [0.27905726432800293, 0.0203064177185297, 0.14742067456245422], "quat_xyzw": [0.4998224079608917, 0.500171422958374, 0.5001770853996277, -0.4998289942741394]}}}, {"t": 7.662, "phase": "lift", "bottle_xyz": [0.2893882095813751, 0.00020044851407874376, 0.0879739448428154], "bottle_quat_xyzw": [-0.0007761025917716324, -0.02460428513586521, -0.0072087012231349945, 0.9996710419654846], "bottom_z": 0.037754705670521305, "q": [4.6581516244259547e-07, 1.768714189529419, 1.3147929906845093, -1.115866780281067, -1.2216810318932403e-05, -2.68414197535094e-07, 0.016694847494363785, -0.016693778336048126], "target": [-6.584267853160242e-11, 1.766217827796936, 1.3175406455993652, -1.1160269975662231, -1.3078040039804506e-10, -6.726660201072931e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.023788802325725555, -3.6690454483032227, 0.3730190694332123], "link_right_finger": [0.01451634056866169, 3.6693596839904785, 0.4232996702194214]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.5469524264335632, 0.44815516471862793, 0.44815489649772644, -0.5469526648521423]}, "link_3": {"xyz": [0.07190986722707748, 2.502836287021637e-05, 0.37284621596336365], "quat_xyzw": [-0.15911135077476501, 0.6889728903770447, -0.6889729499816895, -0.1591109186410904]}, "link_4": {"xyz": [0.3184094727039337, 2.518482506275177e-05, 0.3193395137786865], "quat_xyzw": [-0.4997480511665344, 0.5002518892288208, -0.5002521872520447, -0.49974772334098816]}, "link_5": {"xyz": [0.35798409581184387, 2.253800630569458e-07, 0.24537937343120575], "quat_xyzw": [0.5002487897872925, 0.500255286693573, -0.4997450113296509, -0.4997507631778717]}, "link_6": {"xyz": [0.3185196816921234, 6.18092599324882e-07, 0.21003954112529755], "quat_xyzw": [0.7071062922477722, 0.7071071267127991, 0.00036083112354390323, 0.00035217186086811125]}, "link_left_finger": {"xyz": [0.35778069496154785, -0.02030373178422451, 0.14957883954048157], "quat_xyzw": [0.4997444748878479, 0.5002492666244507, 0.50025475025177, -0.49975118041038513]}, "link_right_finger": {"xyz": [0.2793807089328766, 0.020307518541812897, 0.1495002806186676], "quat_xyzw": [0.4997444748878479, 0.5002492666244507, 0.50025475025177, -0.49975118041038513]}}}, {"t": 7.6819999999999995, "phase": "lift", "bottle_xyz": [0.2897163927555084, 0.00020039464288856834, 0.09007672965526581], "bottle_quat_xyzw": [-0.0007786830537952483, -0.02530369907617569, -0.007310979533940554, 0.9996528029441833], "bottom_z": 0.039837147374323555, "q": [5.838438354999198e-08, 1.7679903507232666, 1.3225418329238892, -1.1240243911743164, -1.1073548193962779e-05, -1.6570500349644135e-07, 0.016693677753210068, -0.01669255644083023], "target": [-6.929622847762218e-11, 1.7654924392700195, 1.3252918720245361, -1.1241841316223145, -1.3764002437799405e-10, -7.079482833294293e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02521069347858429, -3.6702194213867188, 0.3764795660972595], "link_right_finger": [0.015566769987344742, 3.669912338256836, 0.42352211475372314]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5467903017997742, 0.44835296273231506, 0.44835296273231506, -0.5467903017997742]}, "link_3": {"xyz": [0.07172248512506485, 2.5002285838127136e-05, 0.37288373708724976], "quat_xyzw": [-0.15619100630283356, 0.6896407604217529, -0.6896407604217529, -0.15619094669818878]}, "link_4": {"xyz": [0.31866654753685, 2.503208816051483e-05, 0.32146742939949036], "quat_xyzw": [-0.49966904520988464, 0.5003307461738586, -0.5003307461738586, -0.49966901540756226]}, "link_5": {"xyz": [0.3582644462585449, 4.284083843231201e-08, 0.24751976132392883], "quat_xyzw": [0.5003279447555542, 0.5003335475921631, -0.4996662735939026, -0.4996717572212219]}, "link_6": {"xyz": [0.31881120800971985, 4.2989267967641354e-07, 0.21216751635074615], "quat_xyzw": [0.7071065902709961, 0.7071067094802856, 0.00047182905836962163, 0.00046399247366935015]}, "link_left_finger": {"xyz": [0.35809123516082764, -0.020305203273892403, 0.15171919763088226], "quat_xyzw": [0.4996662139892578, 0.500328004360199, 0.5003334879875183, -0.4996718168258667]}, "link_right_finger": {"xyz": [0.27969133853912354, 0.02030852995812893, 0.15161588788032532], "quat_xyzw": [0.4996662139892578, 0.500328004360199, 0.5003334879875183, -0.4996718168258667]}}}, {"t": 7.702, "phase": "lift", "bottle_xyz": [0.2900311052799225, 0.00020048826991114765, 0.09221363812685013], "bottle_quat_xyzw": [-0.0007807677611708641, -0.02600369043648243, -0.007414566818624735, 0.9996340870857239], "bottom_z": 0.04195379415876893, "q": [-3.0707596465617826e-08, 1.7672561407089233, 1.3304016590118408, -1.1322993040084839, -1.0647326234902721e-05, -1.3451251845708612e-07, 0.01669256202876568, -0.016691550612449646], "target": [-7.279938457616097e-11, 1.7647565603256226, 1.3331544399261475, -1.1324584484100342, -1.4459819452916634e-10, -7.437374327512458e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.010293826460838318, -3.6698551177978516, 0.37082725763320923], "link_right_finger": [0.02326538786292076, 3.6701455116271973, 0.4210464060306549]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5466256737709045, 0.4485536813735962, 0.4485536813735962, -0.5466256737709045]}, "link_3": {"xyz": [0.07153237611055374, 2.5002285838127136e-05, 0.3729216456413269], "quat_xyzw": [-0.15322618186473846, 0.6903055906295776, -0.6903055906295776, -0.1532261073589325]}, "link_4": {"xyz": [0.318909227848053, 2.5039538741111755e-05, 0.3236294686794281], "quat_xyzw": [-0.4995892345905304, 0.5004104971885681, -0.5004105567932129, -0.4995891749858856]}, "link_5": {"xyz": [0.35853075981140137, 5.029141902923584e-08, 0.24969443678855896], "quat_xyzw": [0.5004077553749084, 0.500413179397583, -0.4995865225791931, -0.49959179759025574]}, "link_6": {"xyz": [0.31908881664276123, 4.252942744642496e-07, 0.21432960033416748], "quat_xyzw": [0.7071064710617065, 0.7071066498756409, 0.0005845287232659757, 0.0005769620765931904]}, "link_left_finger": {"xyz": [0.35838812589645386, -0.020306339487433434, 0.1538938581943512], "quat_xyzw": [0.49958643317222595, 0.500407874584198, 0.5004130601882935, -0.4995919167995453]}, "link_right_finger": {"xyz": [0.27998822927474976, 0.020309504121541977, 0.1537655144929886], "quat_xyzw": [0.49958643317222595, 0.500407874584198, 0.5004130601882935, -0.4995919167995453]}}}, {"t": 7.7219999999999995, "phase": "lift", "bottle_xyz": [0.29033151268959045, 0.00020069340826012194, 0.09438285231590271], "bottle_quat_xyzw": [-0.0007816822035238147, -0.026702554896473885, -0.007515460718423128, 0.999614953994751], "bottom_z": 0.04410287747287419, "q": [3.1293558322431636e-07, 1.7665119171142578, 1.338366150856018, -1.1406834125518799, -1.14412705443101e-05, -1.1343437478217311e-07, 0.016691530123353004, -0.016690630465745926], "target": [-7.634904514164376e-11, 1.7640109062194824, 1.3411214351654053, -1.1408425569534302, -1.5164873523598743e-10, -7.800017576276019e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.013039655983448029, -3.667720317840576, 0.36099329590797424], "link_right_finger": [0.0104883573949337, 3.6706929206848145, 0.41213828325271606]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5464586615562439, 0.4487570822238922, 0.4487569034099579, -0.5464587807655334]}, "link_3": {"xyz": [0.07133971899747849, 2.5039538741111755e-05, 0.3729598820209503], "quat_xyzw": [-0.15021902322769165, 0.6909661889076233, -0.6909662485122681, -0.15021878480911255]}, "link_4": {"xyz": [0.31913644075393677, 2.512894570827484e-05, 0.3258238434791565], "quat_xyzw": [-0.4995080828666687, 0.5004914999008179, -0.5004916191101074, -0.4995079040527344]}, "link_5": {"xyz": [0.35878193378448486, 1.5459954738616943e-07, 0.25190168619155884], "quat_xyzw": [0.5004886388778687, 0.5004945397377014, -0.4995051920413971, -0.499510794878006]}, "link_6": {"xyz": [0.319351464509964, 5.372130544856191e-07, 0.21652403473854065], "quat_xyzw": [0.7071062922477722, 0.7071065902709961, 0.0006995813455432653, 0.0006914353580214083]}, "link_left_finger": {"xyz": [0.3586704134941101, -0.02030721865594387, 0.1561010330915451], "quat_xyzw": [0.49950501322746277, 0.500488817691803, 0.5004943609237671, -0.4995109736919403]}, "link_right_finger": {"xyz": [0.2802705466747284, 0.02031059004366398, 0.1559472531080246], "quat_xyzw": [0.49950501322746277, 0.500488817691803, 0.5004943609237671, -0.4995109736919403]}}}, {"t": 7.742, "phase": "lift", "bottle_xyz": [0.29061639308929443, 0.00020104169379919767, 0.09658250957727432], "bottle_quat_xyzw": [-0.0007830320973880589, -0.027398012578487396, -0.007616161834448576, 0.9995953440666199], "bottom_z": 0.04628259913380441, "q": [3.079430257457716e-07, 1.7657580375671387, 1.3464281558990479, -1.1491707563400269, -1.1630213521129917e-05, -1.6105929034893052e-08, 0.016690542921423912, -0.016689639538526535], "target": [-7.994211542738938e-11, 1.7632560729980469, 1.349185824394226, -1.1493293046951294, -1.5878549863845848e-10, -8.167095472133568e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.013354972004890442, -3.6698975563049316, 0.3807636499404907], "link_right_finger": [0.011305289342999458, 3.6686851978302, 0.42281925678253174]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5462895035743713, 0.44896307587623596, 0.44896289706230164, -0.5462896227836609]}, "link_3": {"xyz": [0.07114443928003311, 2.5024637579917908e-05, 0.37299856543540955], "quat_xyzw": [-0.14717186987400055, 0.6916216015815735, -0.691621720790863, -0.14717160165309906]}, "link_4": {"xyz": [0.3193470537662506, 2.512894570827484e-05, 0.32804885506629944], "quat_xyzw": [-0.49942585825920105, 0.500573456287384, -0.5005736947059631, -0.4994257092475891]}, "link_5": {"xyz": [0.3590168356895447, 1.3969838619232178e-07, 0.2541397213935852], "quat_xyzw": [0.5005705952644348, 0.5005765557289124, -0.49942299723625183, -0.49942857027053833]}, "link_6": {"xyz": [0.319597989320755, 5.29791577719152e-07, 0.21874913573265076], "quat_xyzw": [0.7071061730384827, 0.7071064710617065, 0.0008156773401424289, 0.0008075315854512155]}, "link_left_finger": {"xyz": [0.35893675684928894, -0.02030821517109871, 0.15833906829357147], "quat_xyzw": [0.4994228184223175, 0.5005708336830139, 0.500576376914978, -0.49942880868911743]}, "link_right_finger": {"xyz": [0.280536949634552, 0.020311573520302773, 0.1581595242023468], "quat_xyzw": [0.4994228184223175, 0.5005708336830139, 0.500576376914978, -0.49942880868911743]}}}, {"t": 7.762, "phase": "lift", "bottle_xyz": [0.2908848822116852, 0.00020090887846890837, 0.09881047904491425], "bottle_quat_xyzw": [-0.0007841797196306288, -0.028095435351133347, -0.007715834770351648, 0.9995751976966858], "bottom_z": 0.04849067417640115, "q": [-1.793237558445071e-08, 1.76499605178833, 1.354580044746399, -1.157753825187683, -1.0685950655897614e-05, 8.665906392479883e-08, 0.016689453274011612, -0.01668863743543625], "target": [-8.357550068671671e-11, 1.7624928951263428, 1.3573405742645264, -1.1579111814498901, -1.660023229987928e-10, -8.538290907633694e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.012379921972751617, -3.6689257621765137, 0.375754714012146], "link_right_finger": [0.0155917564406991, 3.6698880195617676, 0.4229595363140106]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.546118438243866, 0.4491710960865021, 0.4491710960865021, -0.546118438243866]}, "link_3": {"xyz": [0.0709470734000206, 2.5002285838127136e-05, 0.3730374276638031], "quat_xyzw": [-0.14408771693706512, 0.6922707557678223, -0.6922706961631775, -0.14408767223358154]}, "link_4": {"xyz": [0.31954053044319153, 2.5017186999320984e-05, 0.33030200004577637], "quat_xyzw": [-0.4993429481983185, 0.500656247138977, -0.500656247138977, -0.4993428885936737]}, "link_5": {"xyz": [0.3592347800731659, 2.7939677238464355e-08, 0.2564060091972351], "quat_xyzw": [0.5006535053253174, 0.5006589889526367, -0.4993402659893036, -0.499345600605011]}, "link_6": {"xyz": [0.3198276162147522, 3.9985752664506435e-07, 0.22100237011909485], "quat_xyzw": [0.7071061730384827, 0.7071062326431274, 0.000932486611418426, 0.0009248386486433446]}, "link_left_finger": {"xyz": [0.35918641090393066, -0.020309478044509888, 0.1606053113937378], "quat_xyzw": [0.4993401765823364, 0.5006535649299622, 0.5006589293479919, -0.4993456304073334]}, "link_right_finger": {"xyz": [0.2807866930961609, 0.02031240426003933, 0.16039980947971344], "quat_xyzw": [0.4993401765823364, 0.5006535649299622, 0.5006589293479919, -0.4993456304073334]}}}, {"t": 7.782, "phase": "lift", "bottle_xyz": [0.2911355793476105, 0.00020111103367526084, 0.10106468945741653], "bottle_quat_xyzw": [-0.0007861717022024095, -0.02879919484257698, -0.007814276032149792, 0.9995543956756592], "bottom_z": 0.050724908328882184, "q": [2.4856568359155062e-08, 1.7642269134521484, 1.362815260887146, -1.166425108909607, -1.0741468940977938e-05, 2.199023185767146e-10, 0.016688460484147072, -0.01668776571750641], "target": [-8.724608535626288e-11, 1.7617218494415283, 1.3655790090560913, -1.1665810346603394, -1.7329304657920375e-10, -8.913287469214382e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.01919296383857727, -3.6703884601593018, 0.3834801912307739], "link_right_finger": [0.007978217676281929, 3.6680684089660645, 0.4168475568294525]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5459456443786621, 0.4493810534477234, 0.4493810534477234, -0.5459456443786621]}, "link_3": {"xyz": [0.07074784487485886, 2.5002285838127136e-05, 0.37307652831077576], "quat_xyzw": [-0.14096958935260773, 0.6929123997688293, -0.6929123997688293, -0.14096952974796295]}, "link_4": {"xyz": [0.3197159469127655, 2.5024637579917908e-05, 0.33258119225502014], "quat_xyzw": [-0.4992596209049225, 0.500739336013794, -0.5007393956184387, -0.4992595911026001]}, "link_5": {"xyz": [0.3594347834587097, 2.7939677238464355e-08, 0.25869840383529663], "quat_xyzw": [0.500736653804779, 0.5007420778274536, -0.49925696849823, -0.4992622435092926]}, "link_6": {"xyz": [0.32003942131996155, 3.871973603963852e-07, 0.2232816368341446], "quat_xyzw": [0.7071060538291931, 0.7071061134338379, 0.0010501432698220015, 0.0010425527580082417]}, "link_left_finger": {"xyz": [0.3594183325767517, -0.02031049318611622, 0.16289767622947693], "quat_xyzw": [0.4992569088935852, 0.5007367134094238, 0.5007420182228088, -0.4992623031139374]}, "link_right_finger": {"xyz": [0.2810186445713043, 0.02031327225267887, 0.16266606748104095], "quat_xyzw": [0.4992569088935852, 0.5007367134094238, 0.5007420182228088, -0.4992623031139374]}}}, {"t": 7.802, "phase": "lift", "bottle_xyz": [0.29136866331100464, 0.00020119552209507674, 0.10334382951259613], "bottle_quat_xyzw": [-0.0007866071537137032, -0.02950151637196541, -0.007913248613476753, 0.9995331168174744], "bottom_z": 0.05298421222948685, "q": [-6.528767926283763e-08, 1.7634494304656982, 1.3711282014846802, -1.1751762628555298, -1.0434841897222213e-05, 2.1396303395704308e-08, 0.016687456518411636, -0.01668689399957657], "target": [-9.095078162824066e-11, 1.7609436511993408, 1.3738938570022583, -1.1753313541412354, -1.8065150764190463e-10, -9.291768743313611e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.021582424640655518, -3.6676363945007324, 0.36973464488983154], "link_right_finger": [0.011788460426032543, 3.6681466102600098, 0.40226420760154724]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5457709431648254, 0.44959327578544617, 0.44959327578544617, -0.5457709431648254]}, "link_3": {"xyz": [0.07054638117551804, 2.5002285838127136e-05, 0.3731159269809723], "quat_xyzw": [-0.13781869411468506, 0.6935459971427917, -0.6935459971427917, -0.13781864941120148]}, "link_4": {"xyz": [0.3198723793029785, 2.5017186999320984e-05, 0.33488544821739197], "quat_xyzw": [-0.49917465448379517, 0.5008240342140198, -0.5008240938186646, -0.4991745948791504]}, "link_5": {"xyz": [0.3596162796020508, 2.7939677238464355e-08, 0.2610161304473877], "quat_xyzw": [0.5008214116096497, 0.5008267164230347, -0.49917203187942505, -0.4991772174835205]}, "link_6": {"xyz": [0.32023292779922485, 3.862223820760846e-07, 0.22558601200580597], "quat_xyzw": [0.707105815410614, 0.7071058750152588, 0.001170047209598124, 0.0011626265477389097]}, "link_left_finger": {"xyz": [0.35963231325149536, -0.0203115064650774, 0.16521544754505157], "quat_xyzw": [0.4991719424724579, 0.5008214116096497, 0.5008266568183899, -0.4991772174835205]}, "link_right_finger": {"xyz": [0.2812327444553375, 0.020314117893576622, 0.1649572253227234], "quat_xyzw": [0.4991719424724579, 0.5008214116096497, 0.5008266568183899, -0.4991772174835205]}}}, {"t": 7.822, "phase": "lift", "bottle_xyz": [0.2915828824043274, 0.00020129766198806465, 0.10564528405666351], "bottle_quat_xyzw": [-0.0007910191779956222, -0.030197491869330406, -0.008010203950107098, 0.9995115995407104], "bottom_z": 0.055266107206647055, "q": [-3.4468183862657042e-09, 1.762664794921875, 1.3795108795166016, -1.1840020418167114, -1.0620160537655465e-05, -1.7760530113264394e-07, 0.01668640971183777, -0.016685988754034042], "target": [-9.46864808781811e-11, 1.760158896446228, 1.3822784423828125, -1.184154987335205, -1.880715722046844e-10, -9.673417622479974e-11, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03963053971529007, -3.669175148010254, 0.38456547260284424], "link_right_finger": [-0.00435843039304018, 3.6685495376586914, 0.42687052488327026]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5455945134162903, 0.44980737566947937, 0.44980737566947937, -0.5455945134162903]}, "link_3": {"xyz": [0.0703430250287056, 2.5002285838127136e-05, 0.37315553426742554], "quat_xyzw": [-0.13463826477527618, 0.6941704154014587, -0.6941704154014587, -0.1346382200717926]}, "link_4": {"xyz": [0.3200089633464813, 2.5017186999320984e-05, 0.33721229434013367], "quat_xyzw": [-0.4990890622138977, 0.5009092688560486, -0.5009092688560486, -0.4990890324115753]}, "link_5": {"xyz": [0.3597780764102936, 2.0489096641540527e-08, 0.2633565664291382], "quat_xyzw": [0.5009065866470337, 0.5009119510650635, -0.4990864098072052, -0.4990917146205902]}, "link_6": {"xyz": [0.32040685415267944, 3.962923074141145e-07, 0.2279130220413208], "quat_xyzw": [0.7071055769920349, 0.7071057558059692, 0.0012908403296023607, 0.0012832937063649297]}, "link_left_finger": {"xyz": [0.35982683300971985, -0.02031252719461918, 0.16755588352680206], "quat_xyzw": [0.4990863502025604, 0.5009066462516785, 0.5009118914604187, -0.49909183382987976]}, "link_right_finger": {"xyz": [0.2814273536205292, 0.020315036177635193, 0.16727089881896973], "quat_xyzw": [0.4990863502025604, 0.5009066462516785, 0.5009118914604187, -0.49909183382987976]}}}, {"t": 7.842, "phase": "lift", "bottle_xyz": [0.29177752137184143, 0.00020150907221250236, 0.10796695202589035], "bottle_quat_xyzw": [-0.0007971245795488358, -0.030893776565790176, -0.00811037514358759, 0.9994894862174988], "bottom_z": 0.05756830398265467, "q": [-7.927358325332534e-08, 1.7618743181228638, 1.387956142425537, -1.192893147468567, -1.0360021406086162e-05, -3.9539067131499905e-08, 0.016685426235198975, -0.016685130074620247], "target": [-9.845008835940305e-11, 1.7593683004379272, 1.3907254934310913, -1.1930444240570068, -1.9554705077418078e-10, -1.0057917693151452e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.012761294841766357, -3.6689586639404297, 0.3717455267906189], "link_right_finger": [0.03648928925395012, 3.6681900024414062, 0.4152181148529053]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5454167127609253, 0.45002296566963196, 0.45002293586730957, -0.5454167127609253]}, "link_3": {"xyz": [0.07013817876577377, 2.5002285838127136e-05, 0.37319523096084595], "quat_xyzw": [-0.13143129646778107, 0.6947847008705139, -0.6947847604751587, -0.1314312219619751]}, "link_4": {"xyz": [0.32012540102005005, 2.503208816051483e-05, 0.33955931663513184], "quat_xyzw": [-0.4990027844905853, 0.5009952187538147, -0.5009953379631042, -0.4990027844905853]}, "link_5": {"xyz": [0.3599199950695038, 3.5390257835388184e-08, 0.2657172977924347], "quat_xyzw": [0.5009927153587341, 0.5009978413581848, -0.4990002512931824, -0.4990052878856659]}, "link_6": {"xyz": [0.3205609619617462, 3.874156391248107e-07, 0.23026014864444733], "quat_xyzw": [0.7071053385734558, 0.7071054577827454, 0.00141251424793154, 0.0014053202467039227]}, "link_left_finger": {"xyz": [0.36000174283981323, -0.020313557237386703, 0.16991662979125977], "quat_xyzw": [0.4990001618862152, 0.5009927749633789, 0.50099778175354, -0.4990053176879883]}, "link_right_finger": {"xyz": [0.2816023826599121, 0.02031586319208145, 0.1696046143770218], "quat_xyzw": [0.4990001618862152, 0.5009927749633789, 0.50099778175354, -0.4990053176879883]}}}, {"t": 7.862, "phase": "lift", "bottle_xyz": [0.29195207357406616, 0.00020170136122033, 0.1103067696094513], "bottle_quat_xyzw": [-0.0008013663464225829, -0.03159233555197716, -0.008208838291466236, 0.9994668364524841], "bottom_z": 0.05988868495413871, "q": [3.472429099815599e-08, 1.761078953742981, 1.3964574337005615, -1.2018417119979858, -1.0652658602339216e-05, -5.474921138670652e-08, 0.016684459522366524, -0.016684284433722496], "target": [-1.0223849544743757e-10, 1.7585724592208862, 1.3992283344268799, -1.2019925117492676, -2.030718093681827e-10, -1.0444951153987247e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.020471855998039246, -3.668008327484131, 0.3769795894622803], "link_right_finger": [0.016157621517777443, 3.66768741607666, 0.4109615385532379]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.54523766040802, 0.45023980736732483, 0.45023980736732483, -0.54523766040802]}, "link_3": {"xyz": [0.06993203610181808, 2.5002285838127136e-05, 0.37323498725891113], "quat_xyzw": [-0.12820030748844147, 0.69538813829422, -0.69538813829422, -0.1282002180814743]}, "link_4": {"xyz": [0.3202211856842041, 2.5039538741111755e-05, 0.3419245481491089], "quat_xyzw": [-0.4989156126976013, 0.5010820627212524, -0.5010821223258972, -0.49891555309295654]}, "link_5": {"xyz": [0.36004146933555603, 4.284083843231201e-08, 0.268096387386322], "quat_xyzw": [0.5010793805122375, 0.5010848045349121, -0.4989129900932312, -0.49891823530197144]}, "link_6": {"xyz": [0.32069477438926697, 4.121829988434911e-07, 0.2326255589723587], "quat_xyzw": [0.7071051001548767, 0.707105278968811, 0.0015356946969404817, 0.0015281735686585307]}, "link_left_finger": {"xyz": [0.3601565659046173, -0.020314468070864677, 0.1722957342863083], "quat_xyzw": [0.49891287088394165, 0.5010794997215271, 0.5010846853256226, -0.4989183247089386]}, "link_right_finger": {"xyz": [0.28175729513168335, 0.02031676098704338, 0.17195644974708557], "quat_xyzw": [0.49891287088394165, 0.5010794997215271, 0.5010846853256226, -0.4989183247089386]}}}, {"t": 7.882, "phase": "lift", "bottle_xyz": [0.2921057939529419, 0.00020182969456072897, 0.11266286671161652], "bottle_quat_xyzw": [-0.000805420393589884, -0.032288599759340286, -0.008307280950248241, 0.999443769454956], "bottom_z": 0.06222550693966609, "q": [-4.736985026454477e-09, 1.7602791786193848, 1.405007243156433, -1.2108416557312012, -1.0548448699410073e-05, 1.0130067451541436e-08, 0.016683466732501984, -0.01668338105082512], "target": [-1.0604860739560351e-10, 1.7577720880508423, 1.4077799320220947, -1.2109918594360352, -2.1063965849332789e-10, -1.0834202285314731e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.026238657534122467, -3.668215274810791, 0.3806284964084625], "link_right_finger": [0.003769508097320795, 3.6673803329467773, 0.41098588705062866]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5450575947761536, 0.45045778155326843, 0.45045778155326843, -0.5450575351715088]}, "link_3": {"xyz": [0.06972470134496689, 2.5017186999320984e-05, 0.3732748329639435], "quat_xyzw": [-0.12494809180498123, 0.6959798336029053, -0.69597989320755, -0.12494805455207825]}, "link_4": {"xyz": [0.3202956020832062, 2.503208816051483e-05, 0.3443058431148529], "quat_xyzw": [-0.4988279640674591, 0.5011692643165588, -0.5011693835258484, -0.4988279640674591]}, "link_5": {"xyz": [0.36014169454574585, 2.7939677238464355e-08, 0.2704916000366211], "quat_xyzw": [0.5011667013168335, 0.5011719465255737, -0.49882543087005615, -0.49883052706718445]}, "link_6": {"xyz": [0.32080742716789246, 3.91315552406013e-07, 0.23500701785087585], "quat_xyzw": [0.7071048021316528, 0.7071049213409424, 0.0016592240426689386, 0.0016519370255991817]}, "link_left_finger": {"xyz": [0.3602903187274933, -0.02031549997627735, 0.17469102144241333], "quat_xyzw": [0.4988253116607666, 0.5011667609214783, 0.5011718273162842, -0.49883055686950684]}, "link_right_finger": {"xyz": [0.2818911671638489, 0.020317619666457176, 0.17432431876659393], "quat_xyzw": [0.4988253116607666, 0.5011667609214783, 0.5011718273162842, -0.49883055686950684]}}}, {"t": 7.902, "phase": "lift", "bottle_xyz": [0.2922378480434418, 0.00020198881975375116, 0.11503352224826813], "bottle_quat_xyzw": [-0.0008108182228170335, -0.032978881150484085, -0.00840549822896719, 0.9994204044342041], "bottom_z": 0.064577149047845, "q": [-7.617127550929581e-08, 1.7594739198684692, 1.4135994911193848, -1.2198888063430786, -1.0364557056163903e-05, -4.664804542642287e-09, 0.0166824609041214, -0.016682472079992294], "target": [-1.0987732945721973e-10, 1.7569679021835327, 1.4163731336593628, -1.220035195350647, -2.182444780451931e-10, -1.1225353979682495e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03031904250383377, -3.6684131622314453, 0.3845130503177643], "link_right_finger": [0.018092557787895203, 3.6674323081970215, 0.40787991881370544]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5448761582374573, 0.45067721605300903, 0.45067721605300903, -0.5448761582374573]}, "link_3": {"xyz": [0.0695158913731575, 2.5002285838127136e-05, 0.3733147978782654], "quat_xyzw": [-0.1216764897108078, 0.6965593099594116, -0.6965593099594116, -0.12167641520500183]}, "link_4": {"xyz": [0.32034802436828613, 2.503208816051483e-05, 0.34670180082321167], "quat_xyzw": [-0.49874019622802734, 0.5012566447257996, -0.5012567043304443, -0.49874013662338257]}, "link_5": {"xyz": [0.36021995544433594, 3.5390257835388184e-08, 0.2729015350341797], "quat_xyzw": [0.5012540817260742, 0.5012592673301697, -0.498737633228302, -0.4987426996231079]}, "link_6": {"xyz": [0.3208981156349182, 3.918976290151477e-07, 0.23740316927433014], "quat_xyzw": [0.7071045637130737, 0.7071046233177185, 0.0017830749275162816, 0.0017758028116077185]}, "link_left_finger": {"xyz": [0.3604021370410919, -0.020316515117883682, 0.1771010160446167], "quat_xyzw": [0.4987375736236572, 0.501254141330719, 0.5012592077255249, -0.4987427592277527]}, "link_right_finger": {"xyz": [0.28200310468673706, 0.02031853422522545, 0.17670682072639465], "quat_xyzw": [0.4987375736236572, 0.501254141330719, 0.5012592077255249, -0.4987427592277527]}}}, {"t": 7.922, "phase": "lift", "bottle_xyz": [0.29234951734542847, 0.00020287683582864702, 0.11741609126329422], "bottle_quat_xyzw": [-0.0008131846552714705, -0.03377312421798706, -0.008462725207209587, 0.9993934035301208], "bottom_z": 0.06693796116987563, "q": [-2.1209368483710023e-08, 1.7586663961410522, 1.4222264289855957, -1.2289713621139526, -1.0481184290256351e-05, 1.6327428298268387e-08, 0.016681872308254242, -0.016681963577866554], "target": [-1.1372154606892337e-10, 1.7561603784561157, 1.4250012636184692, -1.2291151285171509, -2.2588007853041603e-10, -1.1618089823528521e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.032495178282260895, -3.674017906188965, 0.3653623163700104], "link_right_finger": [-0.0030931755900382996, 3.673797845840454, 0.4066154658794403]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.544694185256958, 0.450897216796875, 0.450897216796875, -0.544694185256958]}, "link_3": {"xyz": [0.06930642575025558, 2.5002285838127136e-05, 0.3733547627925873], "quat_xyzw": [-0.1183893084526062, 0.6971255540847778, -0.6971255540847778, -0.11838925629854202]}, "link_4": {"xyz": [0.32037854194641113, 2.5024637579917908e-05, 0.34910938143730164], "quat_xyzw": [-0.49865198135375977, 0.5013444423675537, -0.5013444423675537, -0.4986519515514374]}, "link_5": {"xyz": [0.360276460647583, 2.7939677238464355e-08, 0.27532315254211426], "quat_xyzw": [0.5013417601585388, 0.5013471245765686, -0.49864935874938965, -0.4986545741558075]}, "link_6": {"xyz": [0.3209671080112457, 3.909226506948471e-07, 0.23981094360351562], "quat_xyzw": [0.7071042060852051, 0.7071042656898499, 0.001907608937472105, 0.0019001172622665763]}, "link_left_finger": {"xyz": [0.3604923486709595, -0.020317083224654198, 0.17952267825603485], "quat_xyzw": [0.4986492693424225, 0.5013417601585388, 0.5013470649719238, -0.4986546039581299]}, "link_right_finger": {"xyz": [0.28209346532821655, 0.020319055765867233, 0.17910093069076538], "quat_xyzw": [0.4986492693424225, 0.5013417601585388, 0.5013470649719238, -0.4986546039581299]}}}, {"t": 7.942, "phase": "lift", "bottle_xyz": [0.29244011640548706, 0.00020248978398740292, 0.11980803310871124], "bottle_quat_xyzw": [-0.0008143728482536972, -0.034698694944381714, -0.008476809598505497, 0.9993615746498108], "bottom_z": 0.06930470993590995, "q": [-4.2911017317237565e-07, 1.7578575611114502, 1.4308803081512451, -1.2380808591842651, -9.425159987586085e-06, 2.3014040095858945e-07, 0.016681808978319168, -0.016681978479027748], "target": [-1.175781694229272e-10, 1.7553502321243286, 1.433657169342041, -1.2382242679595947, -2.3354032596678564e-10, -1.20120927094014e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.030043214559555054, -3.661323070526123, 0.37869927287101746], "link_right_finger": [0.016487907618284225, 3.6596627235412598, 0.4161563515663147]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071066498756409, 0.7071070075035095]}, "link_2": {"xyz": [0.020000001415610313, 2.499297261238098e-05, 0.11400000005960464], "quat_xyzw": [0.5445118546485901, 0.45111727714538574, 0.45111754536628723, -0.544511616230011]}, "link_3": {"xyz": [0.06909669190645218, 2.4963170289993286e-05, 0.3733944892883301], "quat_xyzw": [-0.11508947610855103, 0.6976779103279114, -0.6976778507232666, -0.1150897964835167]}, "link_4": {"xyz": [0.3203869163990021, 2.485141158103943e-05, 0.3515259623527527], "quat_xyzw": [-0.498563289642334, 0.5014325976371765, -0.5014323592185974, -0.4985635280609131]}, "link_5": {"xyz": [0.3603108823299408, -1.6763806343078613e-07, 0.2777538299560547], "quat_xyzw": [0.5014302134513855, 0.5014347434043884, -0.49856096506118774, -0.4985659122467041]}, "link_6": {"xyz": [0.3210141062736511, 1.884618541225791e-07, 0.24222774803638458], "quat_xyzw": [0.7071041464805603, 0.7071036696434021, 0.002032068558037281, 0.002025367459282279]}, "link_left_finger": {"xyz": [0.3605605959892273, -0.020317448303103447, 0.18195347487926483], "quat_xyzw": [0.49856123328208923, 0.5014299154281616, 0.5014349818229675, -0.4985656142234802]}, "link_right_finger": {"xyz": [0.2821619212627411, 0.020318806171417236, 0.18150398135185242], "quat_xyzw": [0.49856123328208923, 0.5014299154281616, 0.5014349818229675, -0.4985656142234802]}}}, {"t": 7.962, "phase": "lift", "bottle_xyz": [0.29250821471214294, 0.00020197297271806747, 0.1222083643078804], "bottle_quat_xyzw": [-0.000818112981505692, -0.035611219704151154, -0.008493725210428238, 0.9993293285369873], "bottom_z": 0.07168037161659696, "q": [-6.011669597683067e-07, 1.7570449113845825, 1.4395560026168823, -1.2472145557403564, -8.720060577616096e-06, 2.1165815766721607e-09, 0.016679951921105385, -0.016680454835295677], "target": [-1.2144409089476227e-10, 1.7545381784439087, 1.4423339366912842, -1.2473554611206055, -2.4121904473872746e-10, -1.2407046223739115e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.008720099925994873, -3.664419651031494, 0.37511253356933594], "link_right_finger": [0.027473341673612595, 3.6623449325561523, 0.41305363178253174]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071065902709961, 0.7071070671081543]}, "link_2": {"xyz": [0.020000001415610313, 2.498924732208252e-05, 0.11400000005960464], "quat_xyzw": [0.5443285703659058, 0.4513384997844696, 0.45133888721466064, -0.5443282723426819]}, "link_3": {"xyz": [0.06888581067323685, 2.4944543838500977e-05, 0.3734343349933624], "quat_xyzw": [-0.11177820712327957, 0.6982160806655884, -0.6982160210609436, -0.1117786318063736]}, "link_4": {"xyz": [0.32037225365638733, 2.4802982807159424e-05, 0.353951096534729], "quat_xyzw": [-0.4984742999076843, 0.5015210509300232, -0.5015207529067993, -0.4984745979309082]}, "link_5": {"xyz": [0.36032238602638245, -2.2351741790771484e-07, 0.28019315004348755], "quat_xyzw": [0.5015188455581665, 0.501522958278656, -0.4984721541404724, -0.4984768033027649]}, "link_6": {"xyz": [0.32103821635246277, 1.0641815606504679e-07, 0.2446531355381012], "quat_xyzw": [0.7071037292480469, 0.7071033716201782, 0.0021572585683315992, 0.002151041990146041]}, "link_left_finger": {"xyz": [0.3606060743331909, -0.02031942643225193, 0.18439289927482605], "quat_xyzw": [0.4984723925590515, 0.5015186071395874, 0.5015232563018799, -0.4984765350818634]}, "link_right_finger": {"xyz": [0.28220754861831665, 0.02032020315527916, 0.18391557037830353], "quat_xyzw": [0.4984723925590515, 0.5015186071395874, 0.5015232563018799, -0.4984765350818634]}}}, {"t": 7.982, "phase": "lift", "bottle_xyz": [0.292553573846817, 0.00020160264102742076, 0.12461459636688232], "bottle_quat_xyzw": [-0.0008232872933149338, -0.036526281386613846, -0.008513249456882477, 0.9992960691452026], "bottom_z": 0.07406203370825815, "q": [-8.522430334778619e-07, 1.7562308311462402, 1.4482462406158447, -1.2563626766204834, -8.004843039088883e-06, 1.448796496106297e-07, 0.01667751744389534, -0.016678398475050926], "target": [-1.2531621573774743e-10, 1.7537248134613037, 1.4510246515274048, -1.256501317024231, -2.48910059230667e-10, -1.2802632565200867e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.029790088534355164, -3.6684787273406982, 0.38411229848861694], "link_right_finger": [0.02106321230530739, 3.6696457862854004, 0.40007317066192627]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071065306663513, 0.7071071267127991]}, "link_2": {"xyz": [0.020000001415610313, 2.498738467693329e-05, 0.11400000005960464], "quat_xyzw": [0.544144868850708, 0.45155999064445496, 0.45156043767929077, -0.5441444516181946]}, "link_3": {"xyz": [0.06867460161447525, 2.4957582354545593e-05, 0.3734740614891052], "quat_xyzw": [-0.10845884680747986, 0.6987393498420715, -0.6987392902374268, -0.10845939069986343]}, "link_4": {"xyz": [0.3203348219394684, 2.4763867259025574e-05, 0.356381893157959], "quat_xyzw": [-0.49838492274284363, 0.5016099214553833, -0.5016095042228699, -0.49838533997535706]}, "link_5": {"xyz": [0.36031123995780945, -2.551823854446411e-07, 0.28263816237449646], "quat_xyzw": [0.5016078948974609, 0.5016115307807922, -0.49838292598724365, -0.4983873665332794]}, "link_6": {"xyz": [0.32103970646858215, 5.6374119594693184e-08, 0.24708415567874908], "quat_xyzw": [0.7071034908294678, 0.7071028351783752, 0.002282975474372506, 0.00227724970318377]}, "link_left_finger": {"xyz": [0.36062905192375183, -0.02032196708023548, 0.1868380308151245], "quat_xyzw": [0.4983833432197571, 0.5016074180603027, 0.5016119480133057, -0.4983869194984436]}, "link_right_finger": {"xyz": [0.2822307348251343, 0.020322181284427643, 0.18633273243904114], "quat_xyzw": [0.4983833432197571, 0.5016074180603027, 0.5016119480133057, -0.4983869194984436]}}}, {"t": 8.002, "phase": "lift", "bottle_xyz": [0.2925760746002197, 0.0002013331395573914, 0.12702405452728271], "bottle_quat_xyzw": [-0.0008306066156364977, -0.03745090216398239, -0.008531446568667889, 0.999261736869812], "bottom_z": 0.07644683649893261, "q": [-8.656939485263138e-07, 1.755415678024292, 1.456943154335022, -1.2655181884765625, -7.746471965219826e-06, 2.820164866079722e-07, 0.016675854101777077, -0.016677208244800568], "target": [-1.2919144920520154e-10, 1.7529107332229614, 1.4597222805023193, -1.265654444694519, -2.5660726321596883e-10, -1.3198535320224636e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.027735725045204163, -3.6680827140808105, 0.3838048577308655], "link_right_finger": [0.023628350347280502, 3.667132616043091, 0.40647655725479126]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071065306663513, 0.7071071267127991]}, "link_2": {"xyz": [0.020000001415610313, 2.498738467693329e-05, 0.11400000005960464], "quat_xyzw": [0.5439607501029968, 0.4517817199230194, 0.4517821967601776, -0.5439603924751282]}, "link_3": {"xyz": [0.06846307963132858, 2.4942681193351746e-05, 0.37351366877555847], "quat_xyzw": [-0.10513442754745483, 0.6992473006248474, -0.6992471814155579, -0.10513493418693542]}, "link_4": {"xyz": [0.3202744722366333, 2.475641667842865e-05, 0.3588160276412964], "quat_xyzw": [-0.49829551577568054, 0.5016987323760986, -0.5016983151435852, -0.4982958734035492]}, "link_5": {"xyz": [0.3602771759033203, -2.7008354663848877e-07, 0.28508657217025757], "quat_xyzw": [0.501696765422821, 0.5017002820968628, -0.49829354882240295, -0.4982978105545044]}, "link_6": {"xyz": [0.3210183382034302, 3.456079866737127e-08, 0.24951857328414917], "quat_xyzw": [0.7071031332015991, 0.707102358341217, 0.0024089377839118242, 0.002403420861810446]}, "link_left_finger": {"xyz": [0.360629141330719, -0.020323676988482475, 0.18928658962249756], "quat_xyzw": [0.49829402565956116, 0.5016963481903076, 0.501700758934021, -0.4982973635196686]}, "link_right_finger": {"xyz": [0.28223100304603577, 0.020323341712355614, 0.18875332176685333], "quat_xyzw": [0.49829402565956116, 0.5016963481903076, 0.501700758934021, -0.4982973635196686]}}}, {"t": 8.022, "phase": "lift", "bottle_xyz": [0.2925757169723511, 0.00020112069614697248, 0.12943506240844727], "bottle_quat_xyzw": [-0.0008379428181797266, -0.03836999088525772, -0.008550805039703846, 0.9992266893386841], "bottom_z": 0.07883350725359536, "q": [-6.111441166467557e-07, 1.754599928855896, 1.4656405448913574, -1.2746745347976685, -8.268579222203698e-06, 6.417336351205449e-08, 0.016674526035785675, -0.01667633280158043], "target": [-1.3306668267265565e-10, 1.7520966529846191, 1.4684199094772339, -1.2748075723648071, -2.6430446720127065e-10, -1.3594438075248405e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02871602773666382, -3.6651086807250977, 0.3694104552268982], "link_right_finger": [0.02843838930130005, 3.6637396812438965, 0.3952738642692566]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071065902709961, 0.7071070671081543]}, "link_2": {"xyz": [0.020000001415610313, 2.498924732208252e-05, 0.11400000005960464], "quat_xyzw": [0.5437763929367065, 0.452003538608551, 0.45200392603874207, -0.5437760353088379]}, "link_3": {"xyz": [0.06825142353773117, 2.4959444999694824e-05, 0.373553067445755], "quat_xyzw": [-0.10180728137493134, 0.6997394561767578, -0.699739396572113, -0.10180774331092834]}, "link_4": {"xyz": [0.32019132375717163, 2.4802982807159424e-05, 0.361251562833786], "quat_xyzw": [-0.4982060194015503, 0.501787543296814, -0.5017872452735901, -0.49820637702941895]}, "link_5": {"xyz": [0.3602203130722046, -2.2351741790771484e-07, 0.2875363826751709], "quat_xyzw": [0.5017855167388916, 0.5017893314361572, -0.4982040226459503, -0.4982084333896637]}, "link_6": {"xyz": [0.3209741413593292, 7.734342943876982e-08, 0.2519543766975403], "quat_xyzw": [0.7071024775505066, 0.7071020603179932, 0.00253519625402987, 0.0025293880607932806]}, "link_left_finger": {"xyz": [0.36060646176338196, -0.020324930548667908, 0.19173651933670044], "quat_xyzw": [0.4982043504714966, 0.5017852187156677, 0.5017896294593811, -0.4982081353664398]}, "link_right_finger": {"xyz": [0.28220850229263306, 0.020324278622865677, 0.19117531180381775], "quat_xyzw": [0.4982043504714966, 0.5017852187156677, 0.5017896294593811, -0.4982081353664398]}}}, {"t": 8.042000000000002, "phase": "lift", "bottle_xyz": [0.292552649974823, 0.00020135033992119133, 0.13184517621994019], "bottle_quat_xyzw": [-0.0008461785619147122, -0.03928759694099426, -0.008566449396312237, 0.9991909265518188], "bottom_z": 0.08121949316666549, "q": [-8.779619520282722e-08, 1.7537848949432373, 1.4743317365646362, -1.2838226556777954, -9.773315468919463e-06, -1.104945042129657e-07, 0.016672924160957336, -0.01667500101029873], "target": [-1.369388075156408e-10, 1.7512832880020142, 1.4771106243133545, -1.2839534282684326, -2.719954816932102e-10, -1.3990024416710156e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.020602189004421234, -3.663303852081299, 0.380450963973999], "link_right_finger": [0.025039058178663254, 3.6642937660217285, 0.39302682876586914]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5435920357704163, 0.4522252380847931, 0.45222532749176025, -0.5435919761657715]}, "link_3": {"xyz": [0.06803987175226212, 2.4985522031784058e-05, 0.3735922873020172], "quat_xyzw": [-0.0984804555773735, 0.7002153992652893, -0.7002153992652893, -0.09848048537969589]}, "link_4": {"xyz": [0.3200852572917938, 2.4978071451187134e-05, 0.3636862635612488], "quat_xyzw": [-0.4981163442134857, 0.5018765926361084, -0.5018765330314636, -0.4981163740158081]}, "link_5": {"xyz": [0.3601406514644623, -1.862645149230957e-08, 0.28998541831970215], "quat_xyzw": [0.5018741488456726, 0.5018789768218994, -0.4981139004230499, -0.4981188178062439]}, "link_6": {"xyz": [0.32090723514556885, 3.3795367926359177e-07, 0.25438934564590454], "quat_xyzw": [0.7071018218994141, 0.7071018218994141, 0.002662301529198885, 0.002655420219525695]}, "link_left_finger": {"xyz": [0.3605611026287079, -0.02032613754272461, 0.19418564438819885], "quat_xyzw": [0.4981139302253723, 0.5018741488456726, 0.5018789768218994, -0.4981187880039215]}, "link_right_finger": {"xyz": [0.2821633219718933, 0.020325923338532448, 0.19359643757343292], "quat_xyzw": [0.4981139302253723, 0.5018741488456726, 0.5018789768218994, -0.4981187880039215]}}}, {"t": 8.062000000000001, "phase": "lift", "bottle_xyz": [0.2925065755844116, 0.00020137729006819427, 0.1342523992061615], "bottle_quat_xyzw": [-0.0008565291063860059, -0.040193479508161545, -0.00858220737427473, 0.9991547465324402], "bottom_z": 0.08360306287222388, "q": [-1.741424711099171e-07, 1.752970814704895, 1.4830083847045898, -1.2929588556289673, -9.799002327781636e-06, -8.659208816652608e-08, 0.016671281307935715, -0.016673406586050987], "target": [-1.4080472898747587e-10, 1.7504712343215942, 1.4857873916625977, -1.2930846214294434, -2.79674200465152e-10, -1.438497793104787e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02311684936285019, -3.666034698486328, 0.38303571939468384], "link_right_finger": [0.015039194375276566, 3.665562391281128, 0.3938893675804138]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5434079170227051, 0.45244652032852173, 0.4524466097354889, -0.5434078574180603]}, "link_3": {"xyz": [0.067828468978405, 2.5000423192977905e-05, 0.3736313581466675], "quat_xyzw": [-0.09515652805566788, 0.7006748914718628, -0.700674831867218, -0.09515656530857086]}, "link_4": {"xyz": [0.31995657086372375, 2.499297261238098e-05, 0.3661178946495056], "quat_xyzw": [-0.49802738428115845, 0.5019649267196655, -0.5019648671150208, -0.49802735447883606]}, "link_5": {"xyz": [0.3600381016731262, -3.725290298461914e-09, 0.2924312353134155], "quat_xyzw": [0.501962423324585, 0.5019673705101013, -0.49802491068840027, -0.49802982807159424]}, "link_6": {"xyz": [0.32081732153892517, 3.4827098716050386e-07, 0.25682124495506287], "quat_xyzw": [0.7071012854576111, 0.7071013450622559, 0.002787752076983452, 0.0027807524893432856]}, "link_left_finger": {"xyz": [0.3604925572872162, -0.020327772945165634, 0.19663162529468536], "quat_xyzw": [0.49802491068840027, 0.5019624829292297, 0.5019673705101013, -0.498029887676239]}, "link_right_finger": {"xyz": [0.28209495544433594, 0.020327549427747726, 0.1960146129131317], "quat_xyzw": [0.49802491068840027, 0.5019624829292297, 0.5019673705101013, -0.498029887676239]}}}, {"t": 8.082, "phase": "lift", "bottle_xyz": [0.2924385368824005, 0.00020127218158449978, 0.13665452599525452], "bottle_quat_xyzw": [-0.0008666447829455137, -0.04109564051032066, -0.00859742145985365, 0.999117910861969], "bottom_z": 0.08598179825975279, "q": [-1.6074729103365826e-07, 1.752158761024475, 1.4916654825210571, -1.3020703792572021, -9.799739927984774e-06, -1.379078806706957e-08, 0.016669848933815956, -0.016671976074576378], "target": [-1.446613523414797e-10, 1.7496610879898071, 1.4944432973861694, -1.3021937608718872, -2.873344340237338e-10, -1.477898081692075e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.028386741876602173, -3.665584087371826, 0.39992454648017883], "link_right_finger": [0.003869868814945221, 3.6658098697662354, 0.40111398696899414]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5432241559028625, 0.45266711711883545, 0.4526672065258026, -0.5432240962982178]}, "link_3": {"xyz": [0.06761763244867325, 2.4985522031784058e-05, 0.3736700713634491], "quat_xyzw": [-0.0918380543589592, 0.7011175751686096, -0.7011175155639648, -0.09183809906244278]}, "link_4": {"xyz": [0.3198055326938629, 2.4978071451187134e-05, 0.3685443699359894], "quat_xyzw": [-0.4979376196861267, 0.50205397605896, -0.5020539164543152, -0.4979376196861267]}, "link_5": {"xyz": [0.3599134087562561, -1.1175870895385742e-08, 0.2948720455169678], "quat_xyzw": [0.5020514726638794, 0.5020564198493958, -0.49793514609336853, -0.4979400932788849]}, "link_6": {"xyz": [0.3207053542137146, 3.340683178976178e-07, 0.2592480480670929], "quat_xyzw": [0.7071008086204529, 0.7071008086204529, 0.002914181211963296, 0.0029071986209601164]}, "link_left_finger": {"xyz": [0.3604021370410919, -0.02032921276986599, 0.19907261431217194], "quat_xyzw": [0.49793511629104614, 0.5020514726638794, 0.502056360244751, -0.4979400634765625]}, "link_right_finger": {"xyz": [0.28200477361679077, 0.020328957587480545, 0.19842754304409027], "quat_xyzw": [0.49793511629104614, 0.5020514726638794, 0.502056360244751, -0.4979400634765625]}}}, {"t": 8.102, "phase": "lift", "bottle_xyz": [0.29234835505485535, 0.00020158976258244365, 0.1390492022037506], "bottle_quat_xyzw": [-0.0008788586710579693, -0.04199233651161194, -0.008613713085651398, 0.99908047914505], "bottom_z": 0.08835338739995031, "q": [2.578352393811656e-07, 1.751349687576294, 1.50029456615448, -1.3111512660980225, -1.105520459532272e-05, -6.432520649468643e-08, 0.016668638214468956, -0.016670608893036842], "target": [-1.4850556895318334e-10, 1.7488535642623901, 1.5030714273452759, -1.3112736940383911, -2.9497004838674457e-10, -1.5171716660766776e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.012204550206661224, -3.6630074977874756, 0.3681601881980896], "link_right_finger": [0.04683506116271019, 3.6646132469177246, 0.3670978546142578]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5430408716201782, 0.4528869092464447, 0.4528867304325104, -0.5430410504341125]}, "link_3": {"xyz": [0.06740757077932358, 2.5024637579917908e-05, 0.3737085163593292], "quat_xyzw": [-0.08852864056825638, 0.7015430927276611, -0.7015430927276611, -0.08852832764387131]}, "link_4": {"xyz": [0.31963256001472473, 2.5136396288871765e-05, 0.3709631562232971], "quat_xyzw": [-0.4978480339050293, 0.5021427869796753, -0.5021429657936096, -0.4978477954864502]}, "link_5": {"xyz": [0.35976675152778625, 1.6205012798309326e-07, 0.297305166721344], "quat_xyzw": [0.5021399855613708, 0.5021457672119141, -0.49784526228904724, -0.49785056710243225]}, "link_6": {"xyz": [0.3205714225769043, 5.342881195247173e-07, 0.2616671621799469], "quat_xyzw": [0.7071000933647156, 0.7071004509925842, 0.0030409186147153378, 0.003033086657524109]}, "link_left_finger": {"xyz": [0.36028966307640076, -0.02033013105392456, 0.2015058845281601], "quat_xyzw": [0.49784499406814575, 0.50214022397995, 0.502145528793335, -0.49785077571868896]}, "link_right_finger": {"xyz": [0.2818925380706787, 0.020330574363470078, 0.20083287358283997], "quat_xyzw": [0.49784499406814575, 0.50214022397995, 0.502145528793335, -0.49785077571868896]}}}, {"t": 8.122000000000002, "phase": "lift", "bottle_xyz": [0.29223570227622986, 0.000201794522581622, 0.14143438637256622], "bottle_quat_xyzw": [-0.0008914329810068011, -0.04288289695978165, -0.008628607727587223, 0.9990425109863281], "bottom_z": 0.09071580326967445, "q": [2.9608793283841806e-07, 1.750543475151062, 1.5088882446289062, -1.3201982975006104, -1.1432343853812199e-05, 1.1248413045450434e-07, 0.016667544841766357, -0.016669129952788353], "target": [-1.5233428407590566e-10, 1.7480493783950806, 1.511664628982544, -1.320317029953003, -3.0257485406082196e-10, -1.556286766124515e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.04042001813650131, -3.6625609397888184, 0.3947913944721222], "link_right_finger": [0.0182175450026989, 3.665292739868164, 0.39456647634506226]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5428583025932312, 0.4531058371067047, 0.4531056582927704, -0.5428584814071655]}, "link_3": {"xyz": [0.06719812005758286, 2.5024637579917908e-05, 0.37374669313430786], "quat_xyzw": [-0.08523045480251312, 0.7019514441490173, -0.7019514441490173, -0.08523013442754745]}, "link_4": {"xyz": [0.31943783164024353, 2.514384686946869e-05, 0.37337231636047363], "quat_xyzw": [-0.49775946140289307, 0.5022305846214294, -0.5022307634353638, -0.4977591931819916]}, "link_5": {"xyz": [0.3595980107784271, 1.695007085800171e-07, 0.29972851276397705], "quat_xyzw": [0.5022276639938354, 0.5022336840629578, -0.49775657057762146, -0.4977620840072632]}, "link_6": {"xyz": [0.32041528820991516, 5.59346517547965e-07, 0.26407667994499207], "quat_xyzw": [0.7070996165275574, 0.7070999145507812, 0.0031657912768423557, 0.0031576401088386774]}, "link_left_finger": {"xyz": [0.36015474796295166, -0.02033117413520813, 0.20392940938472748], "quat_xyzw": [0.49775636196136475, 0.5022279024124146, 0.5022334456443787, -0.4977623224258423]}, "link_right_finger": {"xyz": [0.2817578613758087, 0.020332109183073044, 0.20322875678539276], "quat_xyzw": [0.49775636196136475, 0.5022279024124146, 0.5022334456443787, -0.4977623224258423]}}}, {"t": 8.142000000000001, "phase": "lift", "bottle_xyz": [0.2921014428138733, 0.0002021977270487696, 0.14380821585655212], "bottle_quat_xyzw": [-0.0009035072871483862, -0.043770190328359604, -0.008642885833978653, 0.9990038275718689], "bottom_z": 0.0930671074411756, "q": [4.7644132905588776e-07, 1.7497406005859375, 1.5174413919448853, -1.3292005062103271, -1.1974191693298053e-05, 4.2105348541099374e-08, 0.01666649617254734, -0.016667574644088745], "target": [-1.561444029629655e-10, 1.7472490072250366, 1.5202162265777588, -1.3293163776397705, -3.1014271706375496e-10, -1.5952118792572634e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.014174655079841614, -3.6637802124023438, 0.39822208881378174], "link_right_finger": [0.031915269792079926, 3.6638150215148926, 0.4055728316307068]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.5426763296127319, 0.4533237814903259, 0.45332348346710205, -0.542676568031311]}, "link_3": {"xyz": [0.06698956340551376, 2.5043264031410217e-05, 0.37378451228141785], "quat_xyzw": [-0.08194587379693985, 0.7023424506187439, -0.7023425102233887, -0.08194541931152344]}, "link_4": {"xyz": [0.31922176480293274, 2.5214627385139465e-05, 0.37577006220817566], "quat_xyzw": [-0.49767065048217773, 0.5023185610771179, -0.5023189187049866, -0.49767032265663147]}, "link_5": {"xyz": [0.3594079911708832, 2.4028122425079346e-07, 0.302140474319458], "quat_xyzw": [0.5023155808448792, 0.5023218989372253, -0.49766770005226135, -0.49767327308654785]}, "link_6": {"xyz": [0.3202378749847412, 6.277114152908325e-07, 0.26647481322288513], "quat_xyzw": [0.7070989608764648, 0.707099437713623, 0.0032910092268139124, 0.0032826003152877092]}, "link_left_finger": {"xyz": [0.3599986135959625, -0.020332131534814835, 0.20634156465530396], "quat_xyzw": [0.4976673424243927, 0.5023159384727478, 0.5023215413093567, -0.4976736307144165]}, "link_right_finger": {"xyz": [0.2816019654273987, 0.020333750173449516, 0.20561319589614868], "quat_xyzw": [0.4976673424243927, 0.5023159384727478, 0.5023215413093567, -0.4976736307144165]}}}, {"t": 8.162, "phase": "lift", "bottle_xyz": [0.29194602370262146, 0.00020219800353515893, 0.1461682915687561], "bottle_quat_xyzw": [-0.0009181183413602412, -0.04465067386627197, -0.00865867268294096, 0.9989647269248962], "bottom_z": 0.0954049879080642, "q": [2.014790680959777e-07, 1.7489420175552368, 1.525945782661438, -1.338152527809143, -1.1312939022900537e-05, 2.03803054432683e-08, 0.01666543260216713, -0.01666601561009884], "target": [-1.5993281698989392e-10, 1.7464531660079956, 1.5287190675735474, -1.3382644653320312, -3.176674756577569e-10, -1.633915364118721e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.018812380731105804, -3.6640467643737793, 0.39193597435951233], "link_right_finger": [0.028403330594301224, 3.663684844970703, 0.3815002739429474]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5424953699111938, 0.45354029536247253, 0.45354023575782776, -0.5424954295158386]}, "link_3": {"xyz": [0.06678209453821182, 2.5006011128425598e-05, 0.3738219439983368], "quat_xyzw": [-0.07867791503667831, 0.702716052532196, -0.702716052532196, -0.07867776602506638]}, "link_4": {"xyz": [0.31898489594459534, 2.506561577320099e-05, 0.37815389037132263], "quat_xyzw": [-0.49758240580558777, 0.5024060606956482, -0.502406120300293, -0.4975822865962982]}, "link_5": {"xyz": [0.3591969907283783, 8.381903171539307e-08, 0.30453839898109436], "quat_xyzw": [0.502403199672699, 0.5024089813232422, -0.49757954478263855, -0.49758511781692505]}, "link_6": {"xyz": [0.32003939151763916, 4.710309440270066e-07, 0.268858939409256], "quat_xyzw": [0.7070984840393066, 0.707098662853241, 0.0034149279817938805, 0.003406902076676488]}, "link_left_finger": {"xyz": [0.35982123017311096, -0.02033340558409691, 0.2087397277355194], "quat_xyzw": [0.4975794553756714, 0.5024033188819885, 0.5024088621139526, -0.4975852370262146]}, "link_right_finger": {"xyz": [0.281424880027771, 0.020335139706730843, 0.2079838067293167], "quat_xyzw": [0.4975794553756714, 0.5024033188819885, 0.5024088621139526, -0.4975852370262146]}}}, {"t": 8.182, "phase": "lift", "bottle_xyz": [0.2917700707912445, 0.00020239937293808907, 0.14851245284080505], "bottle_quat_xyzw": [-0.0009337521623820066, -0.04552323371171951, -0.008677425794303417, 0.9989251494407654], "bottom_z": 0.09772730823983777, "q": [2.2784062991831888e-07, 1.7481483221054077, 1.5343949794769287, -1.3470449447631836, -1.1412336789362598e-05, 1.2896225598524325e-07, 0.01666439138352871, -0.01666453666985035], "target": [-1.6369641753222197e-10, 1.7456625699996948, 1.5371661186218262, -1.347153902053833, -3.2514296810504106e-10, -1.6723653017969298e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02983265370130539, -3.662729263305664, 0.3882419466972351], "link_right_finger": [0.03875492513179779, 3.663513660430908, 0.3853887915611267]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5423153042793274, 0.45375555753707886, 0.4537554681301117, -0.5423154234886169]}, "link_3": {"xyz": [0.06657587736845016, 2.499110996723175e-05, 0.3738589584827423], "quat_xyzw": [-0.07542955875396729, 0.7030721306800842, -0.7030721306800842, -0.07542935013771057]}, "link_4": {"xyz": [0.31872785091400146, 2.5073066353797913e-05, 0.3805217444896698], "quat_xyzw": [-0.4974943697452545, 0.502493143081665, -0.5024933218955994, -0.4974941909313202]}, "link_5": {"xyz": [0.3589657247066498, 8.381903171539307e-08, 0.3069203495979309], "quat_xyzw": [0.5024902820587158, 0.5024961829185486, -0.4974915385246277, -0.4974970519542694]}, "link_6": {"xyz": [0.3198206126689911, 4.6938657760620117e-07, 0.2712272107601166], "quat_xyzw": [0.7070978879928589, 0.7070980668067932, 0.003538805292919278, 0.0035307356156408787]}, "link_left_finger": {"xyz": [0.359623521566391, -0.020334430038928986, 0.21112188696861267], "quat_xyzw": [0.49749135971069336, 0.5024904012680054, 0.5024960041046143, -0.49749720096588135]}, "link_right_finger": {"xyz": [0.2812274396419525, 0.020336607471108437, 0.2103385329246521], "quat_xyzw": [0.49749135971069336, 0.5024904012680054, 0.5024960041046143, -0.49749720096588135]}}}, {"t": 8.202, "phase": "lift", "bottle_xyz": [0.29157400131225586, 0.0002025476424023509, 0.15083855390548706], "bottle_quat_xyzw": [-0.0009473260142840445, -0.04638451710343361, -0.00869475957006216, 0.998885452747345], "bottom_z": 0.1000320021487546, "q": [1.60678894189914e-07, 1.747360348701477, 1.5427813529968262, -1.3558732271194458, -1.1132047802675515e-05, 7.923575395807347e-08, 0.01666335016489029, -0.016663124784827232], "target": [-1.6743212372105631e-10, 1.744877815246582, 1.5455507040023804, -1.3559775352478027, -3.325630049122452e-10, -1.710530189713566e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03188176453113556, -3.6637344360351562, 0.39274245500564575], "link_right_finger": [0.026670027524232864, 3.662515163421631, 0.38901713490486145]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5421364903450012, 0.45396918058395386, 0.4539690911769867, -0.542136549949646]}, "link_3": {"xyz": [0.06637109071016312, 2.5006011128425598e-05, 0.3738955855369568], "quat_xyzw": [-0.072203628718853, 0.7034107446670532, -0.703410804271698, -0.07220345735549927]}, "link_4": {"xyz": [0.3184514045715332, 2.5073066353797913e-05, 0.3828714191913605], "quat_xyzw": [-0.49740737676620483, 0.5025792717933655, -0.5025794506072998, -0.49740728735923767]}, "link_5": {"xyz": [0.358714759349823, 8.381903171539307e-08, 0.30928394198417664], "quat_xyzw": [0.5025765299797058, 0.5025821924209595, -0.49740466475486755, -0.49741002917289734]}, "link_6": {"xyz": [0.3195820152759552, 4.572648322209716e-07, 0.2735772430896759], "quat_xyzw": [0.7070972919464111, 0.7070974707603455, 0.003661066759377718, 0.003653263906016946]}, "link_left_finger": {"xyz": [0.3594057261943817, -0.02033550851047039, 0.2134857028722763], "quat_xyzw": [0.4974044859409332, 0.5025766491889954, 0.5025820136070251, -0.4974101483821869]}, "link_right_finger": {"xyz": [0.2810099124908447, 0.020337995141744614, 0.21267518401145935], "quat_xyzw": [0.4974044859409332, 0.5025766491889954, 0.5025820136070251, -0.4974101483821869]}}}, {"t": 8.222000000000001, "phase": "lift", "bottle_xyz": [0.29135870933532715, 0.0002024987043114379, 0.1531444489955902], "bottle_quat_xyzw": [-0.0009632118162699044, -0.04723797366023064, -0.008710370399057865, 0.9988452196121216], "bottom_z": 0.10231683240769299, "q": [2.6955230936209773e-08, 1.7465790510177612, 1.5510982275009155, -1.3646266460418701, -1.0716585165937431e-05, 9.12319890744584e-08, 0.016662264242768288, -0.016661809757351875], "target": [-1.711368130541402e-10, 1.7440996170043945, 1.5538655519485474, -1.3647278547286987, -3.399214798527339e-10, -1.74837824773455e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.01690390706062317, -3.662959098815918, 0.3901781141757965], "link_right_finger": [0.024261798709630966, 3.662808656692505, 0.38409972190856934]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5419591665267944, 0.45418086647987366, 0.45418089628219604, -0.5419591665267944]}, "link_3": {"xyz": [0.06616803258657455, 2.498738467693329e-05, 0.37393173575401306], "quat_xyzw": [-0.06900296360254288, 0.7037319540977478, -0.703731894493103, -0.0690029188990593]}, "link_4": {"xyz": [0.3181562125682831, 2.5002285838127136e-05, 0.3852006196975708], "quat_xyzw": [-0.4973207414150238, 0.5026650428771973, -0.5026650428771973, -0.49732065200805664]}, "link_5": {"xyz": [0.3584449291229248, 1.30385160446167e-08, 0.31162703037261963], "quat_xyzw": [0.5026623010635376, 0.5026677846908569, -0.4973180294036865, -0.4973233640193939]}, "link_6": {"xyz": [0.3193244934082031, 3.849563654512167e-07, 0.27590683102607727], "quat_xyzw": [0.7070966958999634, 0.7070967555046082, 0.00378283578902483, 0.003775186836719513]}, "link_left_finger": {"xyz": [0.3591689169406891, -0.020336685702204704, 0.2158290445804596], "quat_xyzw": [0.49731796979904175, 0.5026623606681824, 0.5026677250862122, -0.4973234236240387]}, "link_right_finger": {"xyz": [0.280773401260376, 0.020339226350188255, 0.2149915099143982], "quat_xyzw": [0.49731796979904175, 0.5026623606681824, 0.5026677250862122, -0.4973234236240387]}}}, {"t": 8.242, "phase": "lift", "bottle_xyz": [0.2911246120929718, 0.0002026245929300785, 0.1554279923439026], "bottle_quat_xyzw": [-0.0009791521588340402, -0.04808392748236656, -0.00872664712369442, 0.9988046884536743], "bottom_z": 0.104579641832513, "q": [1.4064167430660746e-07, 1.745805263519287, 1.5593382120132446, -1.3733007907867432, -1.0946598195005208e-05, 1.2403098992308514e-08, 0.01666116528213024, -0.016660528257489204], "target": [-1.7480740466258027e-10, 1.74332857131958, 1.5621039867401123, -1.373397707939148, -3.4721220343314485e-10, -1.7858779732815577e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.028516769409179688, -3.6633124351501465, 0.3931351602077484], "link_right_finger": [0.018564868718385696, 3.662835121154785, 0.38608452677726746]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.541783332824707, 0.45439061522483826, 0.4543904960155487, -0.5417834520339966]}, "link_3": {"xyz": [0.06596685200929642, 2.5006011128425598e-05, 0.37396740913391113], "quat_xyzw": [-0.06583072245121002, 0.704035758972168, -0.704035758972168, -0.06583051383495331]}, "link_4": {"xyz": [0.31784316897392273, 2.5073066353797913e-05, 0.3875071704387665], "quat_xyzw": [-0.49723538756370544, 0.5027494430541992, -0.5027495622634888, -0.4972352385520935]}, "link_5": {"xyz": [0.35815685987472534, 8.381903171539307e-08, 0.31394726037979126], "quat_xyzw": [0.5027467012405396, 0.5027523636817932, -0.49723267555236816, -0.49723801016807556]}, "link_6": {"xyz": [0.31904858350753784, 4.51371306553483e-07, 0.278213769197464], "quat_xyzw": [0.7070959210395813, 0.7070962190628052, 0.0039030073676258326, 0.003895246423780918]}, "link_left_finger": {"xyz": [0.3589134216308594, -0.02033769153058529, 0.21814952790737152], "quat_xyzw": [0.49723243713378906, 0.5027468800544739, 0.5027521252632141, -0.4972381591796875]}, "link_right_finger": {"xyz": [0.28051814436912537, 0.020340571179986, 0.21728533506393433], "quat_xyzw": [0.49723243713378906, 0.5027468800544739, 0.5027521252632141, -0.4972381591796875]}}}, {"t": 8.262, "phase": "lift", "bottle_xyz": [0.2908725440502167, 0.0002026810252573341, 0.15768754482269287], "bottle_quat_xyzw": [-0.0009949937229976058, -0.04892069473862648, -0.00874414574354887, 0.998763918876648], "bottom_z": 0.10681882829811237, "q": [1.2932572701629397e-07, 1.7450382709503174, 1.5674951076507568, -1.3818879127502441, -1.098360098694684e-05, 1.3388213915277447e-07, 0.016660116612911224, -0.016659311950206757], "target": [-1.7844077604411979e-10, 1.742565393447876, 1.5702587366104126, -1.3819795846939087, -3.54429041671267e-10, -1.8229975862205094e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.026012107729911804, -3.6620397567749023, 0.3857831656932831], "link_right_finger": [0.015068963170051575, 3.6631650924682617, 0.36930137872695923]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5416091084480286, 0.4545983374118805, 0.45459824800491333, -0.5416091680526733]}, "link_3": {"xyz": [0.06576745957136154, 2.5020912289619446e-05, 0.374002605676651], "quat_xyzw": [-0.06268870830535889, 0.7043225169181824, -0.7043225169181824, -0.06268854439258575]}, "link_4": {"xyz": [0.31751298904418945, 2.508796751499176e-05, 0.38978949189186096], "quat_xyzw": [-0.4971507489681244, 0.5028331875801086, -0.5028332471847534, -0.49715062975883484]}, "link_5": {"xyz": [0.35785144567489624, 9.872019290924072e-08, 0.31624317169189453], "quat_xyzw": [0.5028303861618042, 0.5028360486030579, -0.49714797735214233, -0.4971533715724945]}, "link_6": {"xyz": [0.318755179643631, 4.7175853978842497e-07, 0.2804965376853943], "quat_xyzw": [0.7070953249931335, 0.7070954442024231, 0.0040220762602984905, 0.004014263395220041]}, "link_left_finger": {"xyz": [0.35864022374153137, -0.020338745787739754, 0.22044572234153748], "quat_xyzw": [0.49714788794517517, 0.5028305053710938, 0.5028359889984131, -0.49715349078178406]}, "link_right_finger": {"xyz": [0.28024524450302124, 0.020341835916042328, 0.21955513954162598], "quat_xyzw": [0.49714788794517517, 0.5028305053710938, 0.5028359889984131, -0.49715349078178406]}}}, {"t": 8.282, "phase": "lift", "bottle_xyz": [0.2906036972999573, 0.00020273079280741513, 0.1599201261997223], "bottle_quat_xyzw": [-0.001011033309623599, -0.049759749323129654, -0.008759628981351852, 0.9987223148345947], "bottom_z": 0.1090311305773786, "q": [1.9974703491243417e-07, 1.7442806959152222, 1.5755616426467896, -1.3903779983520508, -1.1187446943949908e-05, 8.732749279261043e-08, 0.01665911264717579, -0.01665816828608513], "target": [-1.820338463298654e-10, 1.7418105602264404, 1.5783231258392334, -1.390466332435608, -3.6156580507373803e-10, -1.8597053064173252e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.01593436300754547, -3.6629762649536133, 0.39618828892707825], "link_right_finger": [0.050438061356544495, 3.6635334491729736, 0.39497995376586914]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5414368510246277, 0.454803466796875, 0.45480337738990784, -0.5414369106292725]}, "link_3": {"xyz": [0.06557046622037888, 2.5020912289619446e-05, 0.3740371763706207], "quat_xyzw": [-0.05958052724599838, 0.704592227935791, -0.704592227935791, -0.05958038195967674]}, "link_4": {"xyz": [0.31716686487197876, 2.5073066353797913e-05, 0.39204490184783936], "quat_xyzw": [-0.4970667064189911, 0.5029162764549255, -0.5029163360595703, -0.49706658720970154]}, "link_5": {"xyz": [0.3575299084186554, 9.12696123123169e-08, 0.31851208209991455], "quat_xyzw": [0.5029134154319763, 0.5029191970825195, -0.49706387519836426, -0.497069388628006]}, "link_6": {"xyz": [0.3184455931186676, 4.717439878731966e-07, 0.2827523946762085], "quat_xyzw": [0.707094669342041, 0.7070947885513306, 0.004140348173677921, 0.00413234019652009]}, "link_left_finger": {"xyz": [0.3583506941795349, -0.020339718088507652, 0.2227148711681366], "quat_xyzw": [0.4970637559890747, 0.5029134750366211, 0.50291907787323, -0.49706947803497314]}, "link_right_finger": {"xyz": [0.27995604276657104, 0.020342977717518806, 0.2217981219291687], "quat_xyzw": [0.4970637559890747, 0.5029134750366211, 0.50291907787323, -0.49706947803497314]}}}, {"t": 8.302000000000001, "phase": "lift", "bottle_xyz": [0.29031893610954285, 0.00020277401199564338, 0.16212479770183563], "bottle_quat_xyzw": [-0.00102777942083776, -0.05062577500939369, -0.008770119398832321, 0.9986786842346191], "bottom_z": 0.11121502103587888, "q": [1.968368366078721e-07, 1.7435306310653687, 1.5835323333740234, -1.3987653255462646, -1.1134624401165638e-05, 7.366493548488506e-08, 0.016658233478665352, -0.01665719412267208], "target": [-1.85583520773136e-10, 1.7410649061203003, 1.5862901210784912, -1.398850440979004, -3.686163319027713e-10, -1.8959696312936813e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.04155927151441574, -3.6614139080047607, 0.40498340129852295], "link_right_finger": [0.01857610046863556, 3.660816192626953, 0.3875739276409149]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5412662625312805, 0.45500648021698, 0.4550064206123352, -0.5412663221359253]}, "link_3": {"xyz": [0.06537539511919022, 2.5006011128425598e-05, 0.37407130002975464], "quat_xyzw": [-0.05650768801569939, 0.7048453092575073, -0.7048453092575073, -0.056507550179958344]}, "link_4": {"xyz": [0.3168051242828369, 2.5058165192604065e-05, 0.39427241683006287], "quat_xyzw": [-0.4969828724861145, 0.5029990673065186, -0.5029991269111633, -0.49698275327682495]}, "link_5": {"xyz": [0.35719266533851624, 6.146728992462158e-08, 0.3207530379295349], "quat_xyzw": [0.5029962658882141, 0.5030019879341125, -0.49698007106781006, -0.4969855546951294]}, "link_6": {"xyz": [0.3181202709674835, 4.3734326027333736e-07, 0.28498029708862305], "quat_xyzw": [0.7070939540863037, 0.7070940732955933, 0.004258134867995977, 0.0042502013966441154]}, "link_left_finger": {"xyz": [0.35804539918899536, -0.020340636372566223, 0.22495612502098083], "quat_xyzw": [0.4969799518585205, 0.5029963254928589, 0.503001868724823, -0.49698564410209656]}, "link_right_finger": {"xyz": [0.27965104579925537, 0.02034391090273857, 0.22401322424411774], "quat_xyzw": [0.4969799518585205, 0.5029963254928589, 0.503001868724823, -0.49698564410209656]}}}, {"t": 8.322000000000001, "phase": "lift", "bottle_xyz": [0.290018767118454, 0.0002028333256021142, 0.16429856419563293], "bottle_quat_xyzw": [-0.0010437587043270469, -0.05148126929998398, -0.008779850788414478, 0.9986348748207092], "bottom_z": 0.11336840878515128, "q": [1.3405082199824392e-07, 1.742790937423706, 1.5913976430892944, -1.4070439338684082, -1.0986998859152663e-05, 2.176637314832419e-09, 0.016657093539834023, -0.01665596477687359], "target": [-1.890866768716748e-10, 1.7403290271759033, 1.5941526889801025, -1.4071247577667236, -3.755744881761558e-10, -1.931758780715498e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03767772763967514, -3.6611781120300293, 0.38976550102233887], "link_right_finger": [0.033665139228105545, 3.6603689193725586, 0.38374844193458557]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5410979390144348, 0.45520663261413574, 0.4552065432071686, -0.5410979986190796]}, "link_3": {"xyz": [0.06518303602933884, 2.5020912289619446e-05, 0.374104768037796], "quat_xyzw": [-0.05347459763288498, 0.7050818800926208, -0.7050819396972656, -0.053474459797143936]}, "link_4": {"xyz": [0.31642967462539673, 2.5073066353797913e-05, 0.3964686393737793], "quat_xyzw": [-0.4969007670879364, 0.5030801296234131, -0.5030802488327026, -0.4969007074832916]}, "link_5": {"xyz": [0.35684120655059814, 7.636845111846924e-08, 0.3229624629020691], "quat_xyzw": [0.5030773878097534, 0.5030829906463623, -0.4968980550765991, -0.4969033896923065]}, "link_6": {"xyz": [0.3177804946899414, 4.5305932871997356e-07, 0.2871769964694977], "quat_xyzw": [0.7070932388305664, 0.7070934176445007, 0.004373395349830389, 0.004365677945315838]}, "link_left_finger": {"xyz": [0.35772520303726196, -0.0203417856246233, 0.2271658182144165], "quat_xyzw": [0.49689793586730957, 0.503077507019043, 0.5030828714370728, -0.49690353870391846]}, "link_right_finger": {"xyz": [0.27933117747306824, 0.020345138385891914, 0.22619734704494476], "quat_xyzw": [0.49689793586730957, 0.503077507019043, 0.5030828714370728, -0.49690353870391846]}}}, {"t": 8.342, "phase": "lift", "bottle_xyz": [0.28970465064048767, 0.00020251043315511197, 0.16644011437892914], "bottle_quat_xyzw": [-0.0010631461627781391, -0.05232112482190132, -0.008789743296802044, 0.9985911250114441], "bottom_z": 0.11549009699306842, "q": [-2.132182146397099e-07, 1.7420607805252075, 1.5991522073745728, -1.4152060747146606, -1.0039053449872881e-05, 2.5133533654297935e-07, 0.016655754297971725, -0.016654659062623978], "target": [-1.9254021987880066e-10, 1.7396036386489868, 1.6019039154052734, -1.415281891822815, -3.824341121561048e-10, -1.967041113326573e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03659795969724655, -3.6618282794952393, 0.4067440330982208], "link_right_finger": [0.022683508694171906, 3.6623306274414062, 0.3899252414703369]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.540931761264801, 0.4554041028022766, 0.4554041922092438, -0.5409317016601562]}, "link_3": {"xyz": [0.06499306112527847, 2.4985522031784058e-05, 0.3741377294063568], "quat_xyzw": [-0.05048277974128723, 0.7053024172782898, -0.7053024172782898, -0.05048282817006111]}, "link_4": {"xyz": [0.31604090332984924, 2.497062087059021e-05, 0.39863255620002747], "quat_xyzw": [-0.49681952595710754, 0.5031604170799255, -0.5031603574752808, -0.4968195855617523]}, "link_5": {"xyz": [0.35647615790367126, -3.3527612686157227e-08, 0.3251394033432007], "quat_xyzw": [0.503157913684845, 0.5031628608703613, -0.496817022562027, -0.4968220591545105]}, "link_6": {"xyz": [0.31742700934410095, 3.226596163585782e-07, 0.2893413007259369], "quat_xyzw": [0.7070927619934082, 0.7070924639701843, 0.004487196449190378, 0.004480107221752405]}, "link_left_finger": {"xyz": [0.3573910892009735, -0.020343327894806862, 0.22934305667877197], "quat_xyzw": [0.49681714177131653, 0.5031577348709106, 0.5031629800796509, -0.49682193994522095]}, "link_right_finger": {"xyz": [0.27899742126464844, 0.020346282050013542, 0.2283492386341095], "quat_xyzw": [0.49681714177131653, 0.5031577348709106, 0.5031629800796509, -0.49682193994522095]}}}, {"t": 8.362, "phase": "lift", "bottle_xyz": [0.28937777876853943, 0.00020261392637621611, 0.16854694485664368], "bottle_quat_xyzw": [-0.0010835613356903195, -0.053152572363615036, -0.00880385097116232, 0.9985470175743103], "bottom_z": 0.11757740527066204, "q": [-2.899351869700695e-09, 1.7413417100906372, 1.6067887544631958, -1.4232434034347534, -1.0412743904453237e-05, 1.4762154876279965e-07, 0.01665456034243107, -0.016653580591082573], "target": [-1.9594105504783244e-10, 1.738889217376709, 1.60953688621521, -1.4233145713806152, -3.8918904210483163e-10, -2.001784848992827e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.040234580636024475, -3.662236452102661, 0.4037388265132904], "link_right_finger": [0.026965491473674774, 3.6615853309631348, 0.377099871635437]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5407679677009583, 0.4555985927581787, 0.4555985927581787, -0.5407679677009583]}, "link_3": {"xyz": [0.06480599194765091, 2.5002285838127136e-05, 0.3741700053215027], "quat_xyzw": [-0.04753580689430237, 0.7055071592330933, -0.7055071592330933, -0.0475357323884964]}, "link_4": {"xyz": [0.3156403601169586, 2.5024637579917908e-05, 0.40076160430908203], "quat_xyzw": [-0.49673953652381897, 0.5032393932342529, -0.5032394528388977, -0.4967394769191742]}, "link_5": {"xyz": [0.356099009513855, 3.5390257835388184e-08, 0.32728132605552673], "quat_xyzw": [0.503236711025238, 0.503242015838623, -0.49673691391944885, -0.49674201011657715]}, "link_6": {"xyz": [0.31706124544143677, 4.0371378418058157e-07, 0.29147085547447205], "quat_xyzw": [0.7070918679237366, 0.7070918679237366, 0.004599803127348423, 0.0045924498699605465]}, "link_left_finger": {"xyz": [0.35704439878463745, -0.02034439519047737, 0.23148532211780548], "quat_xyzw": [0.49673688411712646, 0.5032367706298828, 0.5032419562339783, -0.4967420697212219]}, "link_right_finger": {"xyz": [0.27865102887153625, 0.02034744992852211, 0.2304665744304657], "quat_xyzw": [0.49673688411712646, 0.5032367706298828, 0.5032419562339783, -0.4967420697212219]}}}, {"t": 8.382000000000001, "phase": "lift", "bottle_xyz": [0.2890393137931824, 0.00020252801186870784, 0.1706169694662094], "bottle_quat_xyzw": [-0.0011041969992220402, -0.053974416106939316, -0.008816334418952465, 0.998502790927887], "bottom_z": 0.11962827134646378, "q": [2.4972287349100952e-08, 1.740634799003601, 1.614300012588501, -1.431148648262024, -1.0448723514855374e-05, 2.3856978259573225e-07, 0.016653498634696007, -0.01665264554321766], "target": [-1.9928607375430119e-10, 1.7381865978240967, 1.6170445680618286, -1.4312154054641724, -3.9583311628454965e-10, -2.0359584851359358e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.05628775805234909, -3.6611621379852295, 0.4021887481212616], "link_right_finger": [0.010777737945318222, 3.6616811752319336, 0.37427425384521484]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5406068563461304, 0.45578962564468384, 0.45578962564468384, -0.5406068563461304]}, "link_3": {"xyz": [0.06462214142084122, 2.5002285838127136e-05, 0.37420156598091125], "quat_xyzw": [-0.04463643580675125, 0.7056965231895447, -0.7056965231895447, -0.04463636875152588]}, "link_4": {"xyz": [0.31522950530052185, 2.5024637579917908e-05, 0.4028536379337311], "quat_xyzw": [-0.4966607689857483, 0.50331711769104, -0.50331711769104, -0.4966607093811035]}, "link_5": {"xyz": [0.3557111322879791, 2.7939677238464355e-08, 0.32938602566719055], "quat_xyzw": [0.5033144354820251, 0.5033197999000549, -0.4966581463813782, -0.49666333198547363]}, "link_6": {"xyz": [0.3166845738887787, 3.9288715925067663e-07, 0.2935633063316345], "quat_xyzw": [0.7070911526679993, 0.7070911526679993, 0.004710491746664047, 0.004703050013631582]}, "link_left_finger": {"xyz": [0.3566865026950836, -0.020345468074083328, 0.23359030485153198], "quat_xyzw": [0.4966581165790558, 0.5033144950866699, 0.5033197402954102, -0.496663361787796]}, "link_right_finger": {"xyz": [0.2782934308052063, 0.020348388701677322, 0.23254701495170593], "quat_xyzw": [0.4966581165790558, 0.5033144950866699, 0.5033197402954102, -0.496663361787796]}}}, {"t": 8.402000000000001, "phase": "lift", "bottle_xyz": [0.2886900305747986, 0.00020226891501806676, 0.1726483553647995], "bottle_quat_xyzw": [-0.0011243761982768774, -0.054785314947366714, -0.00882905162870884, 0.9984585046768188], "bottom_z": 0.12164088853787838, "q": [-2.209171441336366e-07, 1.7399404048919678, 1.6216785907745361, -1.43891441822052, -9.823667824093718e-06, 2.9057034112156543e-07, 0.016652369871735573, -0.016651708632707596], "target": [-2.0257219512931357e-10, 1.737496256828308, 1.624419927597046, -1.4389771223068237, -4.023602007130478e-10, -2.0695303803996978e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.039735324680805206, -3.6604292392730713, 0.40378615260124207], "link_right_finger": [0.018307164311408997, 3.6604933738708496, 0.38616037368774414]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5404486656188965, 0.45597729086875916, 0.4559773802757263, -0.5404486060142517]}, "link_3": {"xyz": [0.06444142013788223, 2.5000423192977905e-05, 0.37423253059387207], "quat_xyzw": [-0.04178750887513161, 0.7058709859848022, -0.7058709859848022, -0.0417875312268734]}, "link_4": {"xyz": [0.3148093521595001, 2.499297261238098e-05, 0.4049067795276642], "quat_xyzw": [-0.4965834319591522, 0.5033934116363525, -0.5033934116363525, -0.4965834319591522]}, "link_5": {"xyz": [0.3553135395050049, -3.725290298461914e-09, 0.3314516246318817], "quat_xyzw": [0.5033909678459167, 0.5033958554267883, -0.49658098816871643, -0.4965858459472656]}, "link_6": {"xyz": [0.3162979781627655, 3.3716787584125996e-07, 0.29561692476272583], "quat_xyzw": [0.7070905566215515, 0.7070903182029724, 0.004818848799914122, 0.004811943508684635]}, "link_left_finger": {"xyz": [0.3563183546066284, -0.020346706733107567, 0.23565620183944702], "quat_xyzw": [0.4965810477733612, 0.503390908241272, 0.5033959150314331, -0.49658578634262085]}, "link_right_finger": {"xyz": [0.27792561054229736, 0.020349225029349327, 0.23458881676197052], "quat_xyzw": [0.4965810477733612, 0.503390908241272, 0.5033959150314331, -0.49658578634262085]}}}, {"t": 8.422, "phase": "lift", "bottle_xyz": [0.28833168745040894, 0.00020211050286889076, 0.17463909089565277], "bottle_quat_xyzw": [-0.00114411860704422, -0.055588483810424805, -0.008840659633278847, 0.9984139800071716], "bottom_z": 0.12361316618924939, "q": [-2.2108713437773986e-07, 1.7392598390579224, 1.6289182901382446, -1.4465326070785522, -9.7663578344509e-06, 2.923659678799595e-07, 0.016651153564453125, -0.016650758683681488], "target": [-2.0579629667061283e-10, 1.7368190288543701, 1.631656289100647, -1.4465923309326172, -4.0876407814138815e-10, -2.102468615872155e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.023232653737068176, -3.660019636154175, 0.4044538140296936], "link_right_finger": [0.023611970245838165, 3.6614551544189453, 0.3791143298149109]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5402934551239014, 0.45616117119789124, 0.4561612606048584, -0.5402933955192566]}, "link_3": {"xyz": [0.06426429003477097, 2.4985522031784058e-05, 0.3742627203464508], "quat_xyzw": [-0.038991834968328476, 0.7060309052467346, -0.7060309052467346, -0.038991883397102356]}, "link_4": {"xyz": [0.3143814206123352, 2.4963170289993286e-05, 0.4069189727306366], "quat_xyzw": [-0.4965073764324188, 0.50346839427948, -0.50346839427948, -0.4965074360370636]}, "link_5": {"xyz": [0.3549078106880188, -4.0978193283081055e-08, 0.3334760367870331], "quat_xyzw": [0.5034659504890442, 0.5034708380699158, -0.4965049624443054, -0.4965098202228546]}, "link_6": {"xyz": [0.31590306758880615, 2.998713171109557e-07, 0.29762953519821167], "quat_xyzw": [0.7070898413658142, 0.7070896029472351, 0.004925633314996958, 0.004918727558106184]}, "link_left_finger": {"xyz": [0.3559415340423584, -0.020347969606518745, 0.23768091201782227], "quat_xyzw": [0.4965050518512726, 0.5034658908843994, 0.5034709572792053, -0.49650976061820984]}, "link_right_finger": {"xyz": [0.2775491178035736, 0.020350154489278793, 0.23658984899520874], "quat_xyzw": [0.4965050518512726, 0.5034658908843994, 0.5034709572792053, -0.49650976061820984]}}}, {"t": 8.442, "phase": "lift", "bottle_xyz": [0.28796491026878357, 0.00020218663848936558, 0.17658784985542297], "bottle_quat_xyzw": [-0.0011647877981886268, -0.056393224745988846, -0.008858558721840382, 0.9983686804771423], "bottom_z": 0.12554356266567074, "q": [-6.967111332301101e-09, 1.7385915517807007, 1.6360124349594116, -1.4539990425109863, -1.0345421287638601e-05, 2.251496340477388e-07, 0.016650091856718063, -0.016649913042783737], "target": [-2.0895528363151783e-10, 1.736155390739441, 1.6387463808059692, -1.4540537595748901, -4.150386423429353e-10, -2.1347416889749837e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.027922458946704865, -3.6603522300720215, 0.4032716453075409], "link_right_finger": [0.026968732476234436, 3.6602330207824707, 0.3781110942363739]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5401409864425659, 0.4563417434692383, 0.4563417434692383, -0.5401409864425659]}, "link_3": {"xyz": [0.06409033387899399, 2.5002285838127136e-05, 0.374292254447937], "quat_xyzw": [-0.03625134006142616, 0.7061769366264343, -0.7061769366264343, -0.03625126928091049]}, "link_4": {"xyz": [0.3139464557170868, 2.503208816051483e-05, 0.4088890254497528], "quat_xyzw": [-0.496432900428772, 0.503541886806488, -0.5035419464111328, -0.4964328408241272]}, "link_5": {"xyz": [0.3544946014881134, 4.284083843231201e-08, 0.33545809984207153], "quat_xyzw": [0.5035393238067627, 0.5035445094108582, -0.49643030762672424, -0.49643537402153015]}, "link_6": {"xyz": [0.3155004680156708, 4.000903572887182e-07, 0.2996000647544861], "quat_xyzw": [0.7070889472961426, 0.7070888876914978, 0.005030494183301926, 0.005023240577429533]}, "link_left_finger": {"xyz": [0.3555566966533661, -0.020348895341157913, 0.2396632879972458], "quat_xyzw": [0.49643033742904663, 0.5035393238067627, 0.5035445094108582, -0.49643540382385254]}, "link_right_finger": {"xyz": [0.27716463804244995, 0.020351115614175797, 0.23854902386665344], "quat_xyzw": [0.49643033742904663, 0.5035393238067627, 0.5035445094108582, -0.49643540382385254]}}}, {"t": 8.462000000000002, "phase": "lift", "bottle_xyz": [0.2875913381576538, 0.0002020199317485094, 0.17849239706993103], "bottle_quat_xyzw": [-0.001183806685730815, -0.057194147258996964, -0.008879497647285461, 0.9983229637145996], "bottom_z": 0.12742996555679945, "q": [-1.3544959642786125e-07, 1.7379369735717773, 1.6429535150527954, -1.4613049030303955, -1.0107383786817081e-05, 3.1235384767569485e-07, 0.016649030148983, -0.016649002209305763], "target": [-2.1204606126534742e-10, 1.7355061769485474, 1.6456834077835083, -1.4613540172576904, -4.2117770382432695e-10, -2.166317819574104e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.029086947441101074, -3.65994930267334, 0.4001098871231079], "link_right_finger": [0.03486040234565735, 3.658632516860962, 0.3695157468318939]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5399916172027588, 0.45651841163635254, 0.4565185010433197, -0.5399914979934692]}, "link_3": {"xyz": [0.06391999870538712, 2.5000423192977905e-05, 0.37432101368904114], "quat_xyzw": [-0.03356904909014702, 0.7063094973564148, -0.7063094973564148, -0.033569127321243286]}, "link_4": {"xyz": [0.3135060966014862, 2.497062087059021e-05, 0.4108145833015442], "quat_xyzw": [-0.49635985493659973, 0.5036138892173767, -0.5036138296127319, -0.4963599145412445]}, "link_5": {"xyz": [0.35407552123069763, -3.3527612686157227e-08, 0.33739542961120605], "quat_xyzw": [0.5036113262176514, 0.5036163330078125, -0.49635735154151917, -0.4963623881340027]}, "link_6": {"xyz": [0.3150917887687683, 3.2172829378396273e-07, 0.30152609944343567], "quat_xyzw": [0.7070883512496948, 0.7070881128311157, 0.005132884718477726, 0.005125772207975388]}, "link_left_finger": {"xyz": [0.35516536235809326, -0.020350048318505287, 0.24160096049308777], "quat_xyzw": [0.49635744094848633, 0.5036112666130066, 0.503616452217102, -0.4963622987270355]}, "link_right_finger": {"xyz": [0.2767736315727234, 0.020351946353912354, 0.24046394228935242], "quat_xyzw": [0.49635744094848633, 0.5036112666130066, 0.503616452217102, -0.4963622987270355]}}}, {"t": 8.482000000000001, "phase": "lift", "bottle_xyz": [0.2872123122215271, 0.00020216665870975703, 0.18035070598125458], "bottle_quat_xyzw": [-0.0012035169638693333, -0.05799034982919693, -0.008897632360458374, 0.9982768297195435], "bottom_z": 0.12927036651909993, "q": [4.1266568473474763e-07, 1.7372969388961792, 1.6497349739074707, -1.4684422016143799, -1.1495245416881517e-05, 2.910261400757008e-07, 0.016647925600409508, -0.016648001968860626], "target": [-2.1506552094763265e-10, 1.7348718643188477, 1.6524603366851807, -1.4684858322143555, -4.2717512860335205e-10, -2.197165505091192e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03345618024468422, -3.659717559814453, 0.4017688035964966], "link_right_finger": [0.028896871954202652, 3.6600077152252197, 0.3694649934768677]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5398454070091248, 0.45669135451316833, 0.456691175699234, -0.5398455858230591]}, "link_3": {"xyz": [0.06375334411859512, 2.500973641872406e-05, 0.37434911727905273], "quat_xyzw": [-0.03094814531505108, 0.7064292430877686, -0.7064292430877686, -0.030947834253311157]}, "link_4": {"xyz": [0.31306180357933044, 2.5121495127677917e-05, 0.41269394755363464], "quat_xyzw": [-0.4962884783744812, 0.5036842226982117, -0.503684401512146, -0.4962882697582245]}, "link_5": {"xyz": [0.35365206003189087, 1.3969838619232178e-07, 0.33928629755973816], "quat_xyzw": [0.5036813020706177, 0.5036872625350952, -0.4962855577468872, -0.49629107117652893]}, "link_6": {"xyz": [0.31467851996421814, 5.385954864323139e-07, 0.30340591073036194], "quat_xyzw": [0.7070873975753784, 0.707087516784668, 0.00523378886282444, 0.005225677974522114]}, "link_left_finger": {"xyz": [0.35476914048194885, -0.020350826904177666, 0.24349209666252136], "quat_xyzw": [0.49628540873527527, 0.503681480884552, 0.5036871433258057, -0.49629124999046326]}, "link_right_finger": {"xyz": [0.27637770771980286, 0.020353218540549278, 0.24233292043209076], "quat_xyzw": [0.49628540873527527, 0.503681480884552, 0.5036871433258057, -0.49629124999046326]}}}, {"t": 8.502, "phase": "lift", "bottle_xyz": [0.28682973980903625, 0.00020229506480973214, 0.18216051161289215], "bottle_quat_xyzw": [-0.0012239196803420782, -0.058778066188097, -0.008918491192162037, 0.9982304573059082], "bottom_z": 0.1310625819926769, "q": [5.709255219699116e-07, 1.7366734743118286, 1.6563494205474854, -1.475401759147644, -1.226678432431072e-05, 3.099887351254438e-07, 0.016646921634674072, -0.01664687506854534], "target": [-2.1801056793169238e-10, 1.7342532873153687, 1.6590702533721924, -1.4754419326782227, -4.330247549422239e-10, -2.22725282661429e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.030792810022830963, -3.6597414016723633, 0.41330090165138245], "link_right_finger": [0.02850591018795967, 3.6598124504089355, 0.375546395778656]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.5397029519081116, 0.4568597078323364, 0.45685940980911255, -0.5397031903266907]}, "link_3": {"xyz": [0.06359099596738815, 2.5043264031410217e-05, 0.3743763267993927], "quat_xyzw": [-0.028391437605023384, 0.706536591053009, -0.706536591053009, -0.028390977531671524]}, "link_4": {"xyz": [0.3126153349876404, 2.520717680454254e-05, 0.4145246148109436], "quat_xyzw": [-0.49621835350990295, 0.5037533044815063, -0.5037535429000854, -0.4962180256843567]}, "link_5": {"xyz": [0.35322603583335876, 2.4028122425079346e-07, 0.34112828969955444], "quat_xyzw": [0.503750205039978, 0.5037567019462585, -0.496215283870697, -0.496221125125885]}, "link_6": {"xyz": [0.3142625093460083, 6.463087629526854e-07, 0.3052369952201843], "quat_xyzw": [0.7070866227149963, 0.7070868611335754, 0.0053325737826526165, 0.0053238715045154095]}, "link_left_finger": {"xyz": [0.3543698191642761, -0.02035166509449482, 0.24533435702323914], "quat_xyzw": [0.49621501564979553, 0.5037504434585571, 0.5037564039230347, -0.4962213337421417]}, "link_right_finger": {"xyz": [0.275978684425354, 0.02035449631512165, 0.24415335059165955], "quat_xyzw": [0.49621501564979553, 0.5037504434585571, 0.5037564039230347, -0.4962213337421417]}}}, {"t": 8.522, "phase": "lift", "bottle_xyz": [0.28644439578056335, 0.0002022762200795114, 0.18391984701156616], "bottle_quat_xyzw": [-0.0012591573176905513, -0.059536706656217575, -0.008941971696913242, 0.9981852769851685], "bottom_z": 0.13280509533774576, "q": [4.5793254344062007e-07, 1.7360666990280151, 1.662789225578308, -1.4821799993515015, -1.2015272659482434e-05, 1.1576446468097856e-07, 0.016646046191453934, -0.016645798459649086], "target": [-2.2087810747084546e-10, 1.7336509227752686, 1.6655062437057495, -1.4822149276733398, -4.387204211031559e-10, -2.256548281565074e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.029863033443689346, -3.660517692565918, 0.384392112493515], "link_right_finger": [0.04809670150279999, 3.6590757369995117, 0.34811413288116455]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070075035095, 0.7071066498756409]}, "link_2": {"xyz": [0.020000001415610313, 2.5013461709022522e-05, 0.11400000005960464], "quat_xyzw": [0.539564311504364, 0.45702335238456726, 0.45702308416366577, -0.5395645499229431]}, "link_3": {"xyz": [0.06343304365873337, 2.5043264031410217e-05, 0.3744026720523834], "quat_xyzw": [-0.02590191550552845, 0.7066321969032288, -0.7066322565078735, -0.02590148337185383]}, "link_4": {"xyz": [0.31216830015182495, 2.5199726223945618e-05, 0.41630473732948303], "quat_xyzw": [-0.49615079164505005, 0.5038197636604309, -0.5038201212882996, -0.49615049362182617]}, "link_5": {"xyz": [0.3527986705303192, 2.3283064365386963e-07, 0.3429192900657654], "quat_xyzw": [0.5038168430328369, 0.5038231611251831, -0.49614784121513367, -0.49615344405174255]}, "link_6": {"xyz": [0.3138447701931, 6.271438905969262e-07, 0.30701756477355957], "quat_xyzw": [0.7070857882499695, 0.7070862650871277, 0.005427276249974966, 0.005418853834271431]}, "link_left_finger": {"xyz": [0.35396814346313477, -0.020352574065327644, 0.24712568521499634], "quat_xyzw": [0.4961474537849426, 0.5038172006607056, 0.5038228034973145, -0.4961537718772888]}, "link_right_finger": {"xyz": [0.2755773365497589, 0.020355528220534325, 0.24592362344264984], "quat_xyzw": [0.4961474537849426, 0.5038172006607056, 0.5038228034973145, -0.4961537718772888]}}}, {"t": 8.542000000000002, "phase": "lift", "bottle_xyz": [0.2860576808452606, 0.0002020567626459524, 0.18562743067741394], "bottle_quat_xyzw": [-0.0012916080886498094, -0.060299959033727646, -0.008955880999565125, 0.9981393218040466], "bottom_z": 0.13449587367996768, "q": [2.3303157092868787e-07, 1.7354768514633179, 1.6690478324890137, -1.4887678623199463, -1.1346525752742309e-05, 1.469382482355286e-07, 0.016645235940814018, -0.016644837334752083], "target": [-2.2366501706283515e-10, 1.7330654859542847, 1.6717612743377686, -1.4887975454330444, -4.442559375927857e-10, -2.2850202285873422e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.020907148718833923, -3.661602735519409, 0.4063335657119751], "link_right_finger": [0.03625287115573883, 3.659970760345459, 0.37947767972946167]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5394295454025269, 0.457182377576828, 0.45718228816986084, -0.5394296050071716]}, "link_3": {"xyz": [0.06327944248914719, 2.5020912289619446e-05, 0.37442824244499207], "quat_xyzw": [-0.023481976240873337, 0.706716775894165, -0.7067168354988098, -0.0234818197786808]}, "link_4": {"xyz": [0.31172192096710205, 2.508796751499176e-05, 0.41803276538848877], "quat_xyzw": [-0.4960850179195404, 0.503884494304657, -0.5038846731185913, -0.49608492851257324]}, "link_5": {"xyz": [0.3523714244365692, 8.381903171539307e-08, 0.34465792775154114], "quat_xyzw": [0.5038816928863525, 0.5038875341415405, -0.49608224630355835, -0.4960877299308777]}, "link_6": {"xyz": [0.3134268820285797, 4.7202047426253557e-07, 0.3087460994720459], "quat_xyzw": [0.7070852518081665, 0.7070854306221008, 0.0055191731080412865, 0.005511172115802765]}, "link_left_finger": {"xyz": [0.35356584191322327, -0.02035360038280487, 0.24886468052864075], "quat_xyzw": [0.4960820972919464, 0.5038818717002869, 0.503887414932251, -0.4960878789424896]}, "link_right_finger": {"xyz": [0.2751753628253937, 0.0203563179820776, 0.2476421743631363], "quat_xyzw": [0.4960820972919464, 0.5038818717002869, 0.503887414932251, -0.4960878789424896]}}}, {"t": 8.562000000000001, "phase": "lift", "bottle_xyz": [0.2856709063053131, 0.00020178845443297178, 0.18728142976760864], "bottle_quat_xyzw": [-0.001320444862358272, -0.06108344346284866, -0.008955959230661392, 0.9980916380882263], "bottom_z": 0.13613274626102861, "q": [1.164037932710471e-08, 1.734904408454895, 1.6751189231872559, -1.4951574802398682, -1.0746256521088071e-05, 3.089103586262354e-07, 0.016644489020109177, -0.016644049435853958], "target": [-2.263682297165559e-10, 1.7324976921081543, 1.6778284311294556, -1.4951823949813843, -4.496251981844779e-10, -2.3126367487691368e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03688669204711914, -3.6582891941070557, 0.394339382648468], "link_right_finger": [0.022888612002134323, 3.658895254135132, 0.36936166882514954]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5392987728118896, 0.4573367238044739, 0.45733675360679626, -0.5392987132072449]}, "link_3": {"xyz": [0.06313032656908035, 2.5017186999320984e-05, 0.37445303797721863], "quat_xyzw": [-0.02113419957458973, 0.7067908644676208, -0.7067909240722656, -0.021134207025170326]}, "link_4": {"xyz": [0.3112776279449463, 2.5024637579917908e-05, 0.41970711946487427], "quat_xyzw": [-0.49602100253105164, 0.5039476156234741, -0.5039476156234741, -0.496021032333374]}, "link_5": {"xyz": [0.35194575786590576, 2.7939677238464355e-08, 0.3463425934314728], "quat_xyzw": [0.5039449334144592, 0.503950297832489, -0.49601835012435913, -0.49602368474006653]}, "link_6": {"xyz": [0.3130103349685669, 4.028552211821079e-07, 0.31042084097862244], "quat_xyzw": [0.7070847153663635, 0.7070844769477844, 0.005608732812106609, 0.005601159296929836]}, "link_left_finger": {"xyz": [0.3531644940376282, -0.020354468375444412, 0.25054964423179626], "quat_xyzw": [0.4960184097290039, 0.5039448142051697, 0.5039503574371338, -0.49602359533309937]}, "link_right_finger": {"xyz": [0.27477434277534485, 0.020357010886073112, 0.24930721521377563], "quat_xyzw": [0.4960184097290039, 0.5039448142051697, 0.5039503574371338, -0.49602359533309937]}}}, {"t": 8.582, "phase": "lift", "bottle_xyz": [0.285286545753479, 0.00020182834123261273, 0.1888800412416458], "bottle_quat_xyzw": [-0.001345031545497477, -0.06185232475399971, -0.008957751095294952, 0.9980442523956299], "bottom_z": 0.13771467247990868, "q": [1.5017050714050129e-07, 1.7343502044677734, 1.680996298789978, -1.5013407468795776, -1.1050338798668236e-05, 4.08151890951558e-07, 0.016643567010760307, -0.016643093898892403], "target": [-2.2898460905196316e-10, 1.7319480180740356, 1.683700680732727, -1.5013622045516968, -4.5482201338487016e-10, -2.339366478310012e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.024274714291095734, -3.6587440967559814, 0.3960649371147156], "link_right_finger": [0.03898273780941963, 3.658186674118042, 0.3674377202987671]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5391719341278076, 0.45748618245124817, 0.457486093044281, -0.5391719937324524]}, "link_3": {"xyz": [0.06298599392175674, 2.5006011128425598e-05, 0.3744768500328064], "quat_xyzw": [-0.01886129379272461, 0.7068551778793335, -0.7068551778793335, -0.01886115036904812]}, "link_4": {"xyz": [0.3108370900154114, 2.505071461200714e-05, 0.4213259518146515], "quat_xyzw": [-0.49595847725868225, 0.5040091872215271, -0.5040092468261719, -0.4959583878517151]}, "link_5": {"xyz": [0.3515234589576721, 6.146728992462158e-08, 0.34797152876853943], "quat_xyzw": [0.5040063858032227, 0.5040120482444763, -0.4959557056427002, -0.49596112966537476]}, "link_6": {"xyz": [0.3125969469547272, 4.413159331306815e-07, 0.3120401203632355], "quat_xyzw": [0.7070839405059814, 0.7070838809013367, 0.005696701351553202, 0.005688869394361973]}, "link_left_finger": {"xyz": [0.3527659475803375, -0.02035531960427761, 0.2521788775920868], "quat_xyzw": [0.4959556460380554, 0.5040064454078674, 0.5040119886398315, -0.49596112966537476]}, "link_right_finger": {"xyz": [0.27437612414360046, 0.020358026027679443, 0.250916987657547], "quat_xyzw": [0.4959556460380554, 0.5040064454078674, 0.5040119886398315, -0.49596112966537476]}}}, {"t": 8.602, "phase": "lift", "bottle_xyz": [0.28490516543388367, 0.00020176693215034902, 0.190421462059021], "bottle_quat_xyzw": [-0.0013701168354600668, -0.06262332946062088, -0.00895784143358469, 0.9979961514472961], "bottom_z": 0.1392394832778573, "q": [2.500177060937858e-07, 1.7338145971298218, 1.6866711378097534, -1.5073126554489136, -1.1313383765809704e-05, 3.4994232578355877e-07, 0.016642609611153603, -0.016642102971673012], "target": [-2.315110742001636e-10, 1.7314172983169556, 1.6893712282180786, -1.5073297023773193, -4.5984022145617587e-10, -2.36517749829801e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02822616696357727, -3.6592164039611816, 0.40168723464012146], "link_right_finger": [0.02835291624069214, 3.658799171447754, 0.37892383337020874]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5390493869781494, 0.45763057470321655, 0.4576304852962494, -0.539049506187439]}, "link_3": {"xyz": [0.06284645944833755, 2.5006011128425598e-05, 0.3744998872280121], "quat_xyzw": [-0.016666270792484283, 0.7069103717803955, -0.7069103121757507, -0.016666078940033913]}, "link_4": {"xyz": [0.3104017972946167, 2.506561577320099e-05, 0.4228873550891876], "quat_xyzw": [-0.49589842557907104, 0.5040683150291443, -0.5040684342384338, -0.49589821696281433]}, "link_5": {"xyz": [0.351105660200119, 9.12696123123169e-08, 0.34954261779785156], "quat_xyzw": [0.5040653944015503, 0.5040712952613831, -0.4958955645561218, -0.49590104818344116]}, "link_6": {"xyz": [0.31218770146369934, 4.776229616254568e-07, 0.31360191106796265], "quat_xyzw": [0.7070831656455994, 0.7070832252502441, 0.005781112238764763, 0.005773062817752361]}, "link_left_finger": {"xyz": [0.3523710370063782, -0.02035621367394924, 0.2537502646446228], "quat_xyzw": [0.4958954155445099, 0.5040655136108398, 0.5040711164474487, -0.4959011375904083]}, "link_right_finger": {"xyz": [0.2739814817905426, 0.020359057933092117, 0.2524696886539459], "quat_xyzw": [0.4958954155445099, 0.5040655136108398, 0.5040711164474487, -0.4959011375904083]}}}, {"t": 8.622000000000002, "phase": "lift", "bottle_xyz": [0.28452882170677185, 0.0002016540092881769, 0.19190390408039093], "bottle_quat_xyzw": [-0.0013933954760432243, -0.06338245421648026, -0.008957493118941784, 0.997948169708252], "bottom_z": 0.1407056899157994, "q": [1.0786746429403138e-07, 1.7332987785339355, 1.6921370029449463, -1.5130647420883179, -1.0992535862897057e-05, 2.877097244891047e-07, 0.016641754657030106, -0.016641156747937202], "target": [-2.3394453041447605e-10, 1.7309061288833618, 1.6948329210281372, -1.5130773782730103, -4.6467366066060833e-10, -2.390038167376929e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.0286441370844841, -3.658015012741089, 0.407243937253952], "link_right_finger": [0.02554989606142044, 3.6588382720947266, 0.38451918959617615]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5389313697814941, 0.45776957273483276, 0.4577694535255432, -0.5389314293861389]}, "link_3": {"xyz": [0.06271211057901382, 2.5035813450813293e-05, 0.374521940946579], "quat_xyzw": [-0.014551964588463306, 0.7069570422172546, -0.7069571018218994, -0.014551786705851555]}, "link_4": {"xyz": [0.30997365713119507, 2.5110319256782532e-05, 0.4243893325328827], "quat_xyzw": [-0.49584051966667175, 0.50412517786026, -0.5041253566741943, -0.495840460062027]}, "link_5": {"xyz": [0.35069435834884644, 1.210719347000122e-07, 0.35105395317077637], "quat_xyzw": [0.5041224360466003, 0.5041280388832092, -0.49583783745765686, -0.4958431124687195]}, "link_6": {"xyz": [0.31178465485572815, 4.918547347187996e-07, 0.31510433554649353], "quat_xyzw": [0.7070825695991516, 0.7070825695991516, 0.005862054415047169, 0.005854376126080751]}, "link_left_finger": {"xyz": [0.3519816994667053, -0.020357094705104828, 0.2552618980407715], "quat_xyzw": [0.4958377480506897, 0.5041224956512451, 0.5041279792785645, -0.49584317207336426]}, "link_right_finger": {"xyz": [0.27359244227409363, 0.02035999484360218, 0.2539633512496948], "quat_xyzw": [0.4958377480506897, 0.5041224956512451, 0.5041279792785645, -0.49584317207336426]}}}, {"t": 8.642000000000001, "phase": "lift", "bottle_xyz": [0.28415900468826294, 0.0002015943027799949, 0.1933257281780243], "bottle_quat_xyzw": [-0.0014165855245664716, -0.06412443518638611, -0.008957968093454838, 0.9979007244110107], "bottom_z": 0.14211175913909163, "q": [1.698750224932155e-07, 1.7328026294708252, 1.6973878145217896, -1.5185905694961548, -1.11418376036454e-05, 3.581710359412682e-07, 0.016640866175293922, -0.016640229150652885], "target": [-2.362818551926438e-10, 1.7304152250289917, 1.7000788450241089, -1.5185980796813965, -4.693161970159565e-10, -2.413917121746323e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.014630421996116638, -3.6583902835845947, 0.3993106484413147], "link_right_finger": [0.041330672800540924, 3.658021926879883, 0.3664659261703491]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5388177633285522, 0.4579032361507416, 0.4579031467437744, -0.538817822933197]}, "link_3": {"xyz": [0.0625828430056572, 2.5020912289619446e-05, 0.37454304099082947], "quat_xyzw": [-0.01252046786248684, 0.706995964050293, -0.706995964050293, -0.012520304881036282]}, "link_4": {"xyz": [0.30955374240875244, 2.508796751499176e-05, 0.425830602645874], "quat_xyzw": [-0.49578478932380676, 0.5041800141334534, -0.5041801333427429, -0.4957846701145172]}, "link_5": {"xyz": [0.3502906560897827, 1.0617077350616455e-07, 0.35250425338745117], "quat_xyzw": [0.5041772127151489, 0.5041829347610474, -0.4957820475101471, -0.49578744173049927]}, "link_6": {"xyz": [0.31138890981674194, 4.784087650477886e-07, 0.3165459930896759], "quat_xyzw": [0.7070819139480591, 0.7070819139480591, 0.00594031298533082, 0.00593247776851058]}, "link_left_finger": {"xyz": [0.35159921646118164, -0.020357975736260414, 0.2567124366760254], "quat_xyzw": [0.49578195810317993, 0.5041772723197937, 0.5041828155517578, -0.49578750133514404]}, "link_right_finger": {"xyz": [0.2732102572917938, 0.02036091685295105, 0.2553965449333191], "quat_xyzw": [0.49578195810317993, 0.5041772723197937, 0.5041828155517578, -0.49578750133514404]}}}, {"t": 8.662, "phase": "lift", "bottle_xyz": [0.2837970554828644, 0.0002014860074268654, 0.19468548893928528], "bottle_quat_xyzw": [-0.001437937025912106, -0.064850814640522, -0.008958932012319565, 0.9978537559509277], "bottom_z": 0.143456205413397, "q": [1.1347388095828137e-07, 1.7323271036148071, 1.702415943145752, -1.5238817930221558, -1.0928628398687579e-05, 3.8396879631363845e-07, 0.01663997396826744, -0.01663929782807827], "target": [-2.3851998154356124e-10, 1.7299450635910034, 1.7051020860671997, -1.5238844156265259, -4.737616965400093e-10, -2.436782164938478e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.0322323814034462, -3.6581971645355225, 0.4061482548713684], "link_right_finger": [0.03596830740571022, 3.6578245162963867, 0.3745574355125427]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5387089252471924, 0.45803141593933105, 0.4580313265323639, -0.5387089848518372]}, "link_3": {"xyz": [0.062458865344524384, 2.5020912289619446e-05, 0.3745633661746979], "quat_xyzw": [-0.010574857704341412, 0.7070277333259583, -0.7070277333259583, -0.010574689134955406]}, "link_4": {"xyz": [0.30914372205734253, 2.5080516934394836e-05, 0.42720940709114075], "quat_xyzw": [-0.4957312047481537, 0.50423264503479, -0.5042328238487244, -0.49573108553886414]}, "link_5": {"xyz": [0.34989622235298157, 8.381903171539307e-08, 0.3538917005062103], "quat_xyzw": [0.5042299032211304, 0.504235565662384, -0.4957284927368164, -0.49573376774787903]}, "link_6": {"xyz": [0.31100213527679443, 4.597532097250223e-07, 0.31792518496513367], "quat_xyzw": [0.7070812582969666, 0.7070813179016113, 0.006015412043780088, 0.006007674150168896]}, "link_left_finger": {"xyz": [0.3512251377105713, -0.020358894020318985, 0.2581002116203308], "quat_xyzw": [0.49572837352752686, 0.5042300224304199, 0.5042354464530945, -0.4957338869571686]}, "link_right_finger": {"xyz": [0.27283644676208496, 0.020361822098493576, 0.2567676305770874], "quat_xyzw": [0.49572837352752686, 0.5042300224304199, 0.5042354464530945, -0.4957338869571686]}}}, {"t": 8.682, "phase": "lift", "bottle_xyz": [0.28344449400901794, 0.00020142966241110116, 0.19598089158535004], "bottle_quat_xyzw": [-0.001458262326195836, -0.06558367609977722, -0.008957412093877792, 0.9978058338165283], "bottom_z": 0.1447362663684577, "q": [1.7951791164705355e-07, 1.731872797012329, 1.70721435546875, -1.5289320945739746, -1.1118858310510404e-05, 4.473867249998875e-07, 0.016639208421111107, -0.016638506203889847], "target": [-2.406557730871839e-10, 1.7294963598251343, 1.7098957300186157, -1.5289291143417358, -4.780039142282533e-10, -2.4586019331529485e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03495260328054428, -3.6589441299438477, 0.411864697933197], "link_right_finger": [0.02406710386276245, 3.658290386199951, 0.3806442320346832]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5386048555374146, 0.45815375447273254, 0.4581536650657654, -0.5386049151420593]}, "link_3": {"xyz": [0.06234050542116165, 2.5020912289619446e-05, 0.37458258867263794], "quat_xyzw": [-0.008717932738363743, 0.7070530652999878, -0.7070530652999878, -0.008717757649719715]}, "link_4": {"xyz": [0.30874544382095337, 2.5080516934394836e-05, 0.4285236597061157], "quat_xyzw": [-0.49568018317222595, 0.5042828321456909, -0.5042830109596252, -0.4956800639629364]}, "link_5": {"xyz": [0.3495127856731415, 9.12696123123169e-08, 0.3552142083644867], "quat_xyzw": [0.5042800307273865, 0.5042857527732849, -0.4956774115562439, -0.4956827461719513]}, "link_6": {"xyz": [0.31062600016593933, 4.7154026105999947e-07, 0.31923985481262207], "quat_xyzw": [0.7070806622505188, 0.7070806622505188, 0.006087031215429306, 0.006079209968447685]}, "link_left_finger": {"xyz": [0.3508610725402832, -0.020359648391604424, 0.25942298769950867], "quat_xyzw": [0.49567732214927673, 0.504280149936676, 0.5042856931686401, -0.49568286538124084]}, "link_right_finger": {"xyz": [0.27247267961502075, 0.02036263421177864, 0.258074551820755], "quat_xyzw": [0.49567732214927673, 0.504280149936676, 0.5042856931686401, -0.49568286538124084]}}}, {"t": 8.702000000000002, "phase": "lift", "bottle_xyz": [0.2831031084060669, 0.0002013001503655687, 0.19721022248268127], "bottle_quat_xyzw": [-0.0014757473254576325, -0.06630498915910721, -0.008957610465586185, 0.997758150100708], "bottom_z": 0.14595060466262372, "q": [1.8989665306889947e-07, 1.7314414978027344, 1.711775779724121, -1.533732295036316, -1.1070758773712441e-05, 3.6985292695135286e-07, 0.016638411208987236, -0.01663772203028202], "target": [-2.426861489546184e-10, 1.7290699481964111, 1.7144527435302734, -1.5337247848510742, -4.820367438540529e-10, -2.4793447850335326e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03605720400810242, -3.6580262184143066, 0.39600494503974915], "link_right_finger": [0.028257247060537338, 3.657350540161133, 0.3713444471359253]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.538506031036377, 0.458269864320755, 0.45826977491378784, -0.5385061502456665]}, "link_3": {"xyz": [0.06222815066576004, 2.5006011128425598e-05, 0.3746008276939392], "quat_xyzw": [-0.006952889263629913, 0.7070726156234741, -0.7070726156234741, -0.006952698342502117]}, "link_4": {"xyz": [0.30836066603660583, 2.5073066353797913e-05, 0.42977142333984375], "quat_xyzw": [-0.4956316649913788, 0.504330575466156, -0.5043306350708008, -0.49563151597976685]}, "link_5": {"xyz": [0.3491421043872833, 9.12696123123169e-08, 0.3564698100090027], "quat_xyzw": [0.5043277740478516, 0.50433349609375, -0.49562889337539673, -0.4956343173980713]}, "link_6": {"xyz": [0.31026220321655273, 4.69735823571682e-07, 0.32048794627189636], "quat_xyzw": [0.707080066204071, 0.7070800065994263, 0.006155078765004873, 0.006147211417555809]}, "link_left_finger": {"xyz": [0.35050880908966064, -0.02036045305430889, 0.26067885756492615], "quat_xyzw": [0.49562883377075195, 0.5043278336524963, 0.5043334364891052, -0.49563437700271606]}, "link_right_finger": {"xyz": [0.2721206843852997, 0.020363429561257362, 0.2593153417110443], "quat_xyzw": [0.49562883377075195, 0.5043278336524963, 0.5043334364891052, -0.49563437700271606]}}}, {"t": 8.722000000000001, "phase": "lift", "bottle_xyz": [0.2827741503715515, 0.0002011958131333813, 0.19837185740470886], "bottle_quat_xyzw": [-0.0014954580692574382, -0.06701379269361496, -0.00895574502646923, 0.9977107644081116], "bottom_z": 0.14709761073666655, "q": [1.5076062709340476e-07, 1.7310328483581543, 1.7160935401916504, -1.5382764339447021, -1.0933503290289082e-05, 4.2458609073037223e-07, 0.01663750782608986, -0.016636844724416733], "target": [-2.4460800052139575e-10, 1.7286661863327026, 1.718766212463379, -1.5382641553878784, -4.858540236796216e-10, -2.4989790792240285e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.031439490616321564, -3.657820701599121, 0.39810895919799805], "link_right_finger": [0.021909460425376892, 3.6580190658569336, 0.36154982447624207]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.53841233253479, 0.458379864692688, 0.4583797752857208, -0.5384124517440796]}, "link_3": {"xyz": [0.062121666967868805, 2.5006011128425598e-05, 0.3746180236339569], "quat_xyzw": [-0.005281897261738777, 0.7070870995521545, -0.7070870399475098, -0.0052817040123045444]}, "link_4": {"xyz": [0.307990700006485, 2.5073066353797913e-05, 0.430951327085495], "quat_xyzw": [-0.49558570981025696, 0.5043757557868958, -0.5043758749961853, -0.49558553099632263]}, "link_5": {"xyz": [0.34878551959991455, 9.12696123123169e-08, 0.35765713453292847], "quat_xyzw": [0.5043729543685913, 0.5043786764144897, -0.4955829381942749, -0.4955882728099823]}, "link_6": {"xyz": [0.30991217494010925, 4.6307104639708996e-07, 0.32166817784309387], "quat_xyzw": [0.7070795297622681, 0.7070794701576233, 0.006219520699232817, 0.006211673375219107]}, "link_left_finger": {"xyz": [0.35016968846321106, -0.02036135084927082, 0.26186639070510864], "quat_xyzw": [0.49558284878730774, 0.5043729543685913, 0.5043785572052002, -0.4955883324146271]}, "link_right_finger": {"xyz": [0.2717818021774292, 0.02036428451538086, 0.2604885995388031], "quat_xyzw": [0.49558284878730774, 0.5043729543685913, 0.5043785572052002, -0.4955883324146271]}}}, {"t": 8.742, "phase": "lift", "bottle_xyz": [0.2824593782424927, 0.0002008781593758613, 0.19946420192718506], "bottle_quat_xyzw": [-0.001516110496595502, -0.06771165132522583, -0.008956055156886578, 0.9976636171340942], "bottom_z": 0.14817565278313, "q": [-9.41524049835607e-08, 1.730648159980774, 1.720160722732544, -1.5425560474395752, -1.0379710147390142e-05, 4.7626033961023495e-07, 0.016636626794934273, -0.016636013984680176], "target": [-2.4641821916304707e-10, 1.7282859086990356, 1.7228292226791382, -1.5425398349761963, -4.894495919671726e-10, -2.517472896812478e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03173167258501053, -3.657522201538086, 0.39983540773391724], "link_right_finger": [0.03755343705415726, 3.657505989074707, 0.36993324756622314]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5383242964744568, 0.45848333835601807, 0.4584834575653076, -0.5383241772651672]}, "link_3": {"xyz": [0.062021397054195404, 2.4985522031784058e-05, 0.3746342360973358], "quat_xyzw": [-0.003707803785800934, 0.707097053527832, -0.7070971131324768, -0.003707905998453498]}, "link_4": {"xyz": [0.30763721466064453, 2.4959444999694824e-05, 0.4320615530014038], "quat_xyzw": [-0.49554210901260376, 0.5044184923171997, -0.5044184327125549, -0.4955422282218933]}, "link_5": {"xyz": [0.3484446406364441, -4.470348358154297e-08, 0.35877442359924316], "quat_xyzw": [0.5044159293174744, 0.504421055316925, -0.4955395460128784, -0.49554479122161865]}, "link_6": {"xyz": [0.3095775246620178, 3.2523530535399914e-07, 0.3227787911891937], "quat_xyzw": [0.7070791721343994, 0.707078754901886, 0.006280162371695042, 0.006272846832871437]}, "link_left_finger": {"xyz": [0.3498453199863434, -0.020362434908747673, 0.2629839777946472], "quat_xyzw": [0.49553969502449036, 0.50441575050354, 0.5044211745262146, -0.49554458260536194]}, "link_right_finger": {"xyz": [0.271457701921463, 0.020364955067634583, 0.2615926265716553], "quat_xyzw": [0.49553969502449036, 0.50441575050354, 0.5044211745262146, -0.49554458260536194]}}}, {"t": 8.762, "phase": "lift", "bottle_xyz": [0.2821600139141083, 0.00020043650874868035, 0.2004852145910263], "bottle_quat_xyzw": [-0.0015353644266724586, -0.06839912384748459, -0.008954784832894802, 0.997616708278656], "bottom_z": 0.149182673445041, "q": [-4.269244868737587e-07, 1.7302885055541992, 1.72396981716156, -1.5465641021728516, -9.263328138331417e-06, 4.773841055794037e-07, 0.01663571037352085, -0.016635319218039513], "target": [-2.48113724010679e-10, 1.7279298305511475, 1.7266346216201782, -1.5465445518493652, -4.928173424900706e-10, -2.53479459644268e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03104645013809204, -3.6574716567993164, 0.4054897725582123], "link_right_finger": [0.028260648250579834, 3.6573538780212402, 0.3677513003349304]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071066498756409, 0.7071070075035095]}, "link_2": {"xyz": [0.020000001415610313, 2.499297261238098e-05, 0.11400000005960464], "quat_xyzw": [0.5382419228553772, 0.4585800766944885, 0.45858034491539, -0.5382416844367981]}, "link_3": {"xyz": [0.06192762404680252, 2.4978071451187134e-05, 0.374649316072464], "quat_xyzw": [-0.002233869396150112, 0.7071033120155334, -0.7071032524108887, -0.002234154148027301]}, "link_4": {"xyz": [0.30730190873146057, 2.4881213903427124e-05, 0.43310004472732544], "quat_xyzw": [-0.4955015480518341, 0.5044584274291992, -0.5044581890106201, -0.49550172686576843]}, "link_5": {"xyz": [0.34812113642692566, -1.30385160446167e-07, 0.3598194718360901], "quat_xyzw": [0.5044560432434082, 0.5044605731964111, -0.4954991936683655, -0.4955040514469147]}, "link_6": {"xyz": [0.3092597723007202, 2.1271989680826664e-07, 0.32381758093833923], "quat_xyzw": [0.707078754901886, 0.707078218460083, 0.006336656864732504, 0.006330000702291727]}, "link_left_finger": {"xyz": [0.349537193775177, -0.020363537594676018, 0.26402926445007324], "quat_xyzw": [0.49549946188926697, 0.5044557452201843, 0.504460871219635, -0.4955037832260132]}, "link_right_finger": {"xyz": [0.27114981412887573, 0.02036549523472786, 0.2626252770423889], "quat_xyzw": [0.49549946188926697, 0.5044557452201843, 0.504460871219635, -0.4955037832260132]}}}, {"t": 8.782, "phase": "lift", "bottle_xyz": [0.28187745809555054, 0.00020003100507892668, 0.201433926820755], "bottle_quat_xyzw": [-0.0015535291749984026, -0.06907252967357635, -0.008959056809544563, 0.9975702166557312], "bottom_z": 0.1501177736523272, "q": [-4.6760743543927674e-07, 1.7299528121948242, 1.7275153398513794, -1.5502945184707642, -9.036985829879995e-06, 5.177304842618469e-07, 0.016634730622172356, -0.01663471758365631], "target": [-2.4969140643982257e-10, 1.7275983095169067, 1.7301756143569946, -1.5502710342407227, -4.959510024882263e-10, -2.550912536758432e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.040652647614479065, -3.6572964191436768, 0.40229910612106323], "link_right_finger": [0.031050637364387512, 3.657670021057129, 0.3738500773906708]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071066498756409, 0.7071070075035095]}, "link_2": {"xyz": [0.020000001415610313, 2.499297261238098e-05, 0.11400000005960464], "quat_xyzw": [0.5381649136543274, 0.45867037773132324, 0.45867064595222473, -0.5381646752357483]}, "link_3": {"xyz": [0.061840154230594635, 2.4978071451187134e-05, 0.374663382768631], "quat_xyzw": [-0.000861634558532387, 0.7071062922477722, -0.7071062922477722, -0.0008619134314358234]}, "link_4": {"xyz": [0.3069857358932495, 2.4888664484024048e-05, 0.4340660274028778], "quat_xyzw": [-0.49546346068382263, 0.5044957399368286, -0.5044955015182495, -0.49546366930007935]}, "link_5": {"xyz": [0.34781599044799805, -1.30385160446167e-07, 0.3607916235923767], "quat_xyzw": [0.5044934749603271, 0.5044978260993958, -0.49546122550964355, -0.4954659640789032]}, "link_6": {"xyz": [0.30896005034446716, 1.9955041352659464e-07, 0.3247838616371155], "quat_xyzw": [0.7070783376693726, 0.7070776224136353, 0.006389828864485025, 0.00638341112062335]}, "link_left_finger": {"xyz": [0.34924647212028503, -0.02036455273628235, 0.2650015950202942], "quat_xyzw": [0.4954615831375122, 0.5044931173324585, 0.5044981241226196, -0.49546560645103455]}, "link_right_finger": {"xyz": [0.27085933089256287, 0.020366061478853226, 0.26358580589294434], "quat_xyzw": [0.4954615831375122, 0.5044931173324585, 0.5044981241226196, -0.49546560645103455]}}}, {"t": 8.802000000000001, "phase": "lift", "bottle_xyz": [0.281613290309906, 0.00019984939717687666, 0.20230814814567566], "bottle_quat_xyzw": [-0.0015698769129812717, -0.06972901523113251, -0.008960168808698654, 0.9975244998931885], "bottom_z": 0.15097881456922022, "q": [-3.6300224337537657e-07, 1.7296427488327026, 1.7307891845703125, -1.5537388324737549, -9.326705367129762e-06, 6.095070261835644e-07, 0.016633784398436546, -0.0166341420263052], "target": [-2.5114818558158447e-10, 1.7272922992706299, 1.733445167541504, -1.5537117719650269, -4.988445212461556e-10, -2.565795353959288e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.0304272323846817, -3.657547950744629, 0.39876696467399597], "link_right_finger": [0.033412132412195206, 3.657144069671631, 0.3715965151786804]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5380937457084656, 0.4587538242340088, 0.4587540030479431, -0.538093626499176]}, "link_3": {"xyz": [0.06175936013460159, 2.4966895580291748e-05, 0.37467631697654724], "quat_xyzw": [0.00040538961184211075, 0.7071066498756409, -0.7071066498756409, 0.00040522386552765965]}, "link_4": {"xyz": [0.30669042468070984, 2.4907290935516357e-05, 0.4349571466445923], "quat_xyzw": [-0.4954283535480499, 0.5045302510261536, -0.5045301914215088, -0.4954284727573395]}, "link_5": {"xyz": [0.34753090143203735, -1.043081283569336e-07, 0.36168840527534485], "quat_xyzw": [0.5045279264450073, 0.504532516002655, -0.4954260587692261, -0.49543073773384094]}, "link_6": {"xyz": [0.3086800277233124, 2.2821768652647734e-07, 0.32567521929740906], "quat_xyzw": [0.7070778012275696, 0.7070772647857666, 0.006439228542149067, 0.006432686001062393]}, "link_left_finger": {"xyz": [0.3489747941493988, -0.020365450531244278, 0.26589858531951904], "quat_xyzw": [0.4954262673854828, 0.5045276880264282, 0.5045326948165894, -0.49543049931526184]}, "link_right_finger": {"xyz": [0.2705878019332886, 0.020366672426462173, 0.2644718587398529], "quat_xyzw": [0.4954262673854828, 0.5045276880264282, 0.5045326948165894, -0.49543049931526184]}}}, {"t": 8.822000000000001, "phase": "lift", "bottle_xyz": [0.28136855363845825, 0.00019952138245571405, 0.2031061202287674], "bottle_quat_xyzw": [-0.0015812097117304802, -0.07036838680505753, -0.008963728323578835, 0.9974795579910278], "bottom_z": 0.1517640346753261, "q": [-3.417629272917111e-07, 1.7293586730957031, 1.7337843179702759, -1.5568909645080566, -9.235841389454436e-06, 5.516230885405093e-07, 0.01663288101553917, -0.016633599996566772], "target": [-2.524809250559201e-10, 1.7270123958587646, 1.7364364862442017, -1.5568597316741943, -5.014916815149206e-10, -2.579410851577535e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.028857506811618805, -3.657230854034424, 0.3986545205116272], "link_right_finger": [0.02857818827033043, 3.6568286418914795, 0.36893168091773987]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5380285978317261, 0.4588302969932556, 0.45883047580718994, -0.5380284786224365]}, "link_3": {"xyz": [0.06168527156114578, 2.4981796741485596e-05, 0.37468817830085754], "quat_xyzw": [0.0015647762920707464, 0.7071051001548767, -0.7071051001548767, 0.0015646259998902678]}, "link_4": {"xyz": [0.3064173758029938, 2.4940818548202515e-05, 0.4357718825340271], "quat_xyzw": [-0.4953962564468384, 0.504561722278595, -0.5045616030693054, -0.49539634585380554]}, "link_5": {"xyz": [0.34726715087890625, -7.078051567077637e-08, 0.3625083565711975], "quat_xyzw": [0.5045594573020935, 0.5045639872550964, -0.4953939914703369, -0.49539870023727417]}, "link_6": {"xyz": [0.3084208071231842, 2.5401823222637177e-07, 0.32649025321006775], "quat_xyzw": [0.7070773839950562, 0.7070768475532532, 0.0064841811545193195, 0.006477631628513336]}, "link_left_finger": {"xyz": [0.3487231731414795, -0.020366348326206207, 0.2667187452316284], "quat_xyzw": [0.495394229888916, 0.5045592188835144, 0.5045642256736755, -0.49539849162101746]}, "link_right_finger": {"xyz": [0.2703363597393036, 0.02036726474761963, 0.2652820348739624], "quat_xyzw": [0.495394229888916, 0.5045592188835144, 0.5045642256736755, -0.49539849162101746]}}}, {"t": 8.842, "phase": "lift", "bottle_xyz": [0.2811451256275177, 0.00019922538194805384, 0.2038259506225586], "bottle_quat_xyzw": [-0.0015920496080070734, -0.07099571824073792, -0.008964174427092075, 0.9974350929260254], "bottom_z": 0.15247143479577724, "q": [-3.2267098504235037e-07, 1.729102373123169, 1.7364935874938965, -1.5597413778305054, -9.364201105199754e-06, 5.573202201958338e-07, 0.016631970182061195, -0.01663299836218357], "target": [-2.536865439939362e-10, 1.7267591953277588, 1.7391424179077148, -1.5597072839736938, -5.038863215567346e-10, -2.5917276658127264e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.029801055788993835, -3.657066583633423, 0.40269023180007935], "link_right_finger": [0.0235266275703907, 3.656663417816162, 0.3657488226890564]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5379697680473328, 0.45889922976493835, 0.4588994085788727, -0.5379696488380432]}, "link_3": {"xyz": [0.06161845475435257, 2.4981796741485596e-05, 0.37469884753227234], "quat_xyzw": [0.002613255986943841, 0.7071020007133484, -0.7071020007133484, 0.002613101154565811]}, "link_4": {"xyz": [0.3061683475971222, 2.4937093257904053e-05, 0.43650805950164795], "quat_xyzw": [-0.495367169380188, 0.5045902729034424, -0.5045901536941528, -0.49536728858947754]}, "link_5": {"xyz": [0.3470265567302704, -6.705522537231445e-08, 0.3632492423057556], "quat_xyzw": [0.5045880079269409, 0.5045925378799438, -0.49536484479904175, -0.4953696131706238]}, "link_6": {"xyz": [0.308184415102005, 2.714368747547269e-07, 0.3272266387939453], "quat_xyzw": [0.7070769667625427, 0.7070764303207397, 0.006524964235723019, 0.006518383510410786]}, "link_left_finger": {"xyz": [0.34849366545677185, -0.020367221906781197, 0.26745980978012085], "quat_xyzw": [0.49536511301994324, 0.5045877695083618, 0.504592776298523, -0.4953693747520447]}, "link_right_finger": {"xyz": [0.2701070308685303, 0.02036786824464798, 0.26601406931877136], "quat_xyzw": [0.49536511301994324, 0.5045877695083618, 0.504592776298523, -0.4953693747520447]}}}, {"t": 8.862, "phase": "lift", "bottle_xyz": [0.28094416856765747, 0.0001991424651350826, 0.20446662604808807], "bottle_quat_xyzw": [-0.001602145261131227, -0.07166195660829544, -0.008982249535620213, 0.9973872303962708], "bottom_z": 0.15309899674583574, "q": [-2.13861994780018e-07, 1.7288726568222046, 1.7389112710952759, -1.5622848272323608, -9.73879468801897e-06, 6.05389516294963e-07, 0.01663123443722725, -0.01663247123360634], "target": [-2.5476193377116374e-10, 1.72653329372406, 1.7415560483932495, -1.5622472763061523, -5.060223351449622e-10, -2.602714155308661e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.014057233929634094, -3.65671443939209, 0.407449871301651], "link_right_finger": [0.0226651132106781, 3.6562371253967285, 0.3647940754890442]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5379170775413513, 0.45896103978157043, 0.4589611291885376, -0.5379169583320618]}, "link_3": {"xyz": [0.061558596789836884, 2.5000423192977905e-05, 0.3747084140777588], "quat_xyzw": [0.0035492186434566975, 0.7070978879928589, -0.7070979475975037, 0.0035491285379976034]}, "link_4": {"xyz": [0.30594402551651, 2.4981796741485596e-05, 0.4371648132801056], "quat_xyzw": [-0.4953409731388092, 0.5046159625053406, -0.5046159029006958, -0.49534106254577637]}, "link_5": {"xyz": [0.34680986404418945, -2.9802322387695312e-08, 0.3639102280139923], "quat_xyzw": [0.5046135187149048, 0.5046184062957764, -0.4953385889530182, -0.49534350633621216]}, "link_6": {"xyz": [0.30797141790390015, 3.176101017743349e-07, 0.32788360118865967], "quat_xyzw": [0.7070766091346741, 0.7070761322975159, 0.006561831571161747, 0.006554899737238884]}, "link_left_finger": {"xyz": [0.3482869267463684, -0.020367886871099472, 0.2681209444999695], "quat_xyzw": [0.4953387677669525, 0.5046133995056152, 0.5046185851097107, -0.4953433573246002]}, "link_right_finger": {"xyz": [0.269900381565094, 0.02036847360432148, 0.26666709780693054], "quat_xyzw": [0.4953387677669525, 0.5046133995056152, 0.5046185851097107, -0.4953433573246002]}}}, {"t": 8.882000000000001, "phase": "lift", "bottle_xyz": [0.2807665467262268, 0.0001988956064451486, 0.2050260603427887], "bottle_quat_xyzw": [-0.0016087533440440893, -0.07231245189905167, -0.008999548852443695, 0.9973401427268982], "bottom_z": 0.1536457153486907, "q": [-2.1871863964406657e-07, 1.7286711931228638, 1.7410296201705933, -1.5645129680633545, -9.675277397036552e-06, 5.679143555425981e-07, 0.0166303887963295, -0.016631798818707466], "target": [-2.557039857631338e-10, 1.7263354063034058, 1.7436703443527222, -1.5644724369049072, -5.078935050306654e-10, -2.6123386787091363e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03959839791059494, -3.6552300453186035, 0.40145790576934814], "link_right_finger": [0.031972866505384445, 3.655193567276001, 0.3623816967010498]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5378708243370056, 0.45901522040367126, 0.4590153098106384, -0.5378707051277161]}, "link_3": {"xyz": [0.06150607019662857, 2.5015324354171753e-05, 0.37471678853034973], "quat_xyzw": [0.004369369708001614, 0.7070932984352112, -0.7070932984352112, 0.00436926307156682]}, "link_4": {"xyz": [0.3057458996772766, 2.4978071451187134e-05, 0.43773993849754333], "quat_xyzw": [-0.49531790614128113, 0.504638671875, -0.5046386122703552, -0.4953179657459259]}, "link_5": {"xyz": [0.3466184437274933, -1.862645149230957e-08, 0.3644890785217285], "quat_xyzw": [0.5046362280845642, 0.504641056060791, -0.4953155219554901, -0.4953203797340393]}, "link_6": {"xyz": [0.307783305644989, 3.1685340218245983e-07, 0.32845890522003174], "quat_xyzw": [0.7070763111114502, 0.7070758938789368, 0.006594143342226744, 0.006587290205061436]}, "link_left_finger": {"xyz": [0.34810423851013184, -0.020368721336126328, 0.26869991421699524], "quat_xyzw": [0.49531567096710205, 0.5046360492706299, 0.5046411752700806, -0.495320200920105]}, "link_right_finger": {"xyz": [0.26971790194511414, 0.020369116216897964, 0.26723888516426086], "quat_xyzw": [0.49531567096710205, 0.5046360492706299, 0.5046411752700806, -0.495320200920105]}}}, {"t": 8.902000000000001, "phase": "lift", "bottle_xyz": [0.28061339259147644, 0.0001989082375075668, 0.2055024355649948], "bottle_quat_xyzw": [-0.0016157424543052912, -0.07295486330986023, -0.009020021185278893, 0.9972931742668152], "bottom_z": 0.1541096179959247, "q": [5.658672819208732e-08, 1.7284988164901733, 1.7428410053253174, -1.5664188861846924, -1.0422161722090095e-05, 4.942363034388109e-07, 0.016629423946142197, -0.01663089357316494], "target": [-2.5650961910095305e-10, 1.7261661291122437, 1.745478630065918, -1.5663753747940063, -5.094937249872089e-10, -2.620569317102195e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.031045734882354736, -3.656243085861206, 0.39854010939598083], "link_right_finger": [0.031217724084854126, 3.656208038330078, 0.36598604917526245]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5378312468528748, 0.4590616822242737, 0.4590616822242737, -0.5378312468528748]}, "link_3": {"xyz": [0.06146106868982315, 2.5002285838127136e-05, 0.37472397089004517], "quat_xyzw": [0.005070632789283991, 0.7070886492729187, -0.7070886492729187, 0.005070697050541639]}, "link_4": {"xyz": [0.3055754601955414, 2.5035813450813293e-05, 0.43823152780532837], "quat_xyzw": [-0.49529823660850525, 0.5046579241752625, -0.5046579241752625, -0.49529820680618286]}, "link_5": {"xyz": [0.3464536964893341, 3.91155481338501e-08, 0.3649838864803314], "quat_xyzw": [0.5046553015708923, 0.5046606063842773, -0.4952956438064575, -0.495300829410553]}, "link_6": {"xyz": [0.30762138962745667, 4.0516897570341825e-07, 0.3289506733417511], "quat_xyzw": [0.7070759534835815, 0.7070757150650024, 0.006622019689530134, 0.006614604499191046]}, "link_left_finger": {"xyz": [0.34794697165489197, -0.020369550213217735, 0.2691948115825653], "quat_xyzw": [0.4952957034111023, 0.5046552419662476, 0.5046606659889221, -0.4953007698059082]}, "link_right_finger": {"xyz": [0.26956072449684143, 0.020370157435536385, 0.26772770285606384], "quat_xyzw": [0.4952957034111023, 0.5046552419662476, 0.5046606659889221, -0.4953007698059082]}}}, {"t": 8.922, "phase": "lift", "bottle_xyz": [0.2804858088493347, 0.000199029702343978, 0.20589399337768555], "bottle_quat_xyzw": [-0.0016202590195462108, -0.07358616590499878, -0.00903996080160141, 0.9972466230392456], "bottom_z": 0.1544890014183791, "q": [2.8347491820568393e-07, 1.7283560037612915, 1.7443392276763916, -1.5679951906204224, -1.1262186490057502e-05, 5.071601094641665e-07, 0.016628632321953773, -0.016629943624138832], "target": [-2.571757251601525e-10, 1.726026177406311, 1.7469736337661743, -1.5679486989974976, -5.108167777656547e-10, -2.627374429131635e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.035618558526039124, -3.656572103500366, 0.4015626907348633], "link_right_finger": [0.01690642163157463, 3.65653133392334, 0.3642275929450989]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5377983450889587, 0.4591001868247986, 0.45909997820854187, -0.5377985239028931]}, "link_3": {"xyz": [0.061423830687999725, 2.5024637579917908e-05, 0.3747299015522003], "quat_xyzw": [0.00565072987228632, 0.7070842385292053, -0.7070842385292053, 0.00565103767439723]}, "link_4": {"xyz": [0.30543363094329834, 2.5140121579170227e-05, 0.43863797187805176], "quat_xyzw": [-0.49528202414512634, 0.5046738982200623, -0.5046741366386414, -0.49528181552886963]}, "link_5": {"xyz": [0.3463166356086731, 1.5832483768463135e-07, 0.3653929829597473], "quat_xyzw": [0.5046710968017578, 0.5046769380569458, -0.4952792525291443, -0.4952845871448517]}, "link_6": {"xyz": [0.3074866533279419, 5.28641976416111e-07, 0.3293572664260864], "quat_xyzw": [0.7070756554603577, 0.7070756554603577, 0.006645164452493191, 0.006637278012931347]}, "link_left_finger": {"xyz": [0.3478161096572876, -0.02037016488611698, 0.26960399746894836], "quat_xyzw": [0.49527913331985474, 0.5046712160110474, 0.5046768188476562, -0.49528470635414124]}, "link_right_finger": {"xyz": [0.2694299519062042, 0.020371267572045326, 0.268131822347641], "quat_xyzw": [0.49527913331985474, 0.5046712160110474, 0.5046768188476562, -0.49528470635414124]}}}, {"t": 8.942, "phase": "lift", "bottle_xyz": [0.28038468956947327, 0.00019862361659761518, 0.20619896054267883], "bottle_quat_xyzw": [-0.0016253909561783075, -0.07420153170824051, -0.00906347669661045, 0.9972008466720581], "bottom_z": 0.15478218020482817, "q": [2.785601793675596e-07, 1.7282429933547974, 1.7455170154571533, -1.5692346096038818, -1.1387799531803466e-05, 4.796355028702237e-07, 0.016627755016088486, -0.016628794372081757], "target": [-2.576992230718389e-10, 1.7259162664413452, 1.7481485605239868, -1.5691851377487183, -5.118565571393674e-10, -2.632722373441254e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03042203187942505, -3.6537208557128906, 0.39378148317337036], "link_right_finger": [0.035413626581430435, 3.655385971069336, 0.36346739530563354]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071069478988647, 0.7071067094802856]}, "link_2": {"xyz": [0.020000001415610313, 2.500973641872406e-05, 0.11400000005960464], "quat_xyzw": [0.5377724170684814, 0.45913049578666687, 0.45913031697273254, -0.537772536277771]}, "link_3": {"xyz": [0.061394430696964264, 2.5039538741111755e-05, 0.374734491109848], "quat_xyzw": [0.006107042543590069, 0.7070804238319397, -0.7070804238319397, 0.006107317749410868]}, "link_4": {"xyz": [0.30532151460647583, 2.5136396288871765e-05, 0.43895745277404785], "quat_xyzw": [-0.4952690899372101, 0.5046865940093994, -0.5046867728233337, -0.49526891112327576]}, "link_5": {"xyz": [0.34620827436447144, 1.5459954738616943e-07, 0.36571455001831055], "quat_xyzw": [0.5046837329864502, 0.504689633846283, -0.49526622891426086, -0.4952717423439026]}, "link_6": {"xyz": [0.30738013982772827, 5.475449142977595e-07, 0.3296768367290497], "quat_xyzw": [0.7070754766464233, 0.7070754170417786, 0.006663345266133547, 0.0066552720963954926]}, "link_left_finger": {"xyz": [0.3477126955986023, -0.020370997488498688, 0.26992562413215637], "quat_xyzw": [0.4952661395072937, 0.504683792591095, 0.5046895146369934, -0.49527180194854736]}, "link_right_finger": {"xyz": [0.2693265676498413, 0.02037244662642479, 0.26844945549964905], "quat_xyzw": [0.4952661395072937, 0.504683792591095, 0.5046895146369934, -0.49527180194854736]}}}, {"t": 8.962000000000002, "phase": "lift", "bottle_xyz": [0.28031134605407715, 0.00019861450709868222, 0.20641563832759857], "bottle_quat_xyzw": [-0.0016326376935467124, -0.07479961216449738, -0.009086094796657562, 0.9971559047698975], "bottom_z": 0.15498747520438522, "q": [1.1629026630544104e-07, 1.728161334991455, 1.7463675737380981, -1.57012939453125, -1.1137873116240371e-05, 5.741771360590064e-07, 0.016626864671707153, -0.01662757247686386], "target": [-2.580769764559676e-10, 1.7258368730545044, 1.748996376991272, -1.5700774192810059, -5.126069013705603e-10, -2.6365817862306073e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.025181420147418976, -3.657186508178711, 0.39196643233299255], "link_right_finger": [0.03312034159898758, 3.657170295715332, 0.3494741916656494]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.537753701210022, 0.4591524302959442, 0.45915234088897705, -0.5377537608146667]}, "link_3": {"xyz": [0.06137312203645706, 2.5020912289619446e-05, 0.3747378885746002], "quat_xyzw": [0.006436703260987997, 0.7070775032043457, -0.7070775032043457, 0.006436854600906372]}, "link_4": {"xyz": [0.3052402138710022, 2.5076791644096375e-05, 0.4391882121562958], "quat_xyzw": [-0.4952596127986908, 0.5046959519386292, -0.5046960115432739, -0.49525949358940125]}, "link_5": {"xyz": [0.34612971544265747, 9.499490261077881e-08, 0.36594682931900024], "quat_xyzw": [0.5046930909156799, 0.5046988129615784, -0.49525678157806396, -0.4952622354030609]}, "link_6": {"xyz": [0.30730292201042175, 4.796311259269714e-07, 0.3299076557159424], "quat_xyzw": [0.7070754170417786, 0.7070751786231995, 0.0066765290684998035, 0.006668625399470329]}, "link_left_finger": {"xyz": [0.34763771295547485, -0.020371999591588974, 0.27015799283981323], "quat_xyzw": [0.49525684118270874, 0.5046930909156799, 0.5046988725662231, -0.4952622652053833]}, "link_right_finger": {"xyz": [0.26925167441368103, 0.02037360705435276, 0.2686788737773895], "quat_xyzw": [0.49525684118270874, 0.5046930909156799, 0.5046988725662231, -0.4952622652053833]}}}, {"t": 8.982000000000001, "phase": "lift", "bottle_xyz": [0.28026631474494934, 0.0001986099232453853, 0.20654219388961792], "bottle_quat_xyzw": [-0.0016362059395760298, -0.07538395375013351, -0.009106369689106941, 0.9971116781234741], "bottom_z": 0.15510298045397286, "q": [1.0993552734817058e-07, 1.7281112670898438, 1.7468830347061157, -1.5706727504730225, -1.1064800673921127e-05, 6.19847014604602e-07, 0.016626296564936638, -0.01662670448422432], "target": [-2.583059044436453e-10, 1.7257888317108154, 1.7495101690292358, -1.5706180334091187, -5.130615932102955e-10, -2.63892047103198e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02968289703130722, -3.656174421310425, 0.3843843340873718], "link_right_finger": [0.0351225920021534, 3.655618190765381, 0.34632408618927]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377421975135803, 0.45916587114334106, 0.4591657817363739, -0.5377422571182251]}, "link_3": {"xyz": [0.061360083520412445, 2.5006011128425598e-05, 0.37473997473716736], "quat_xyzw": [0.006636612582951784, 0.7070756554603577, -0.7070756554603577, 0.006636772304773331]}, "link_4": {"xyz": [0.30519071221351624, 2.506561577320099e-05, 0.4393281936645508], "quat_xyzw": [-0.4952540099620819, 0.5047013759613037, -0.5047014951705933, -0.49525389075279236]}, "link_5": {"xyz": [0.34608182311058044, 7.636845111846924e-08, 0.36608773469924927], "quat_xyzw": [0.504698634147644, 0.5047042965888977, -0.49525129795074463, -0.495256632566452]}, "link_6": {"xyz": [0.3072558343410492, 4.433532012626529e-07, 0.33004772663116455], "quat_xyzw": [0.7070753574371338, 0.7070751190185547, 0.006684288382530212, 0.006676508113741875]}, "link_left_finger": {"xyz": [0.34759193658828735, -0.020372595638036728, 0.27029892802238464], "quat_xyzw": [0.49525123834609985, 0.5046985745429993, 0.5047042369842529, -0.49525657296180725]}, "link_right_finger": {"xyz": [0.2692059576511383, 0.020374413579702377, 0.26881808042526245], "quat_xyzw": [0.49525123834609985, 0.5046985745429993, 0.5047042369842529, -0.49525657296180725]}}}, {"t": 9.002, "phase": "lift", "bottle_xyz": [0.2802516520023346, 0.00019861801411025226, 0.20657673478126526], "bottle_quat_xyzw": [-0.0016387496143579483, -0.07595478743314743, -0.009129845537245274, 0.9970681667327881], "bottom_z": 0.15512679418646122, "q": [9.482491236667556e-08, 1.7280926704406738, 1.7470579147338867, -1.5708519220352173, -1.0918746738752816e-05, 5.638607376567961e-07, 0.016625821590423584, -0.01662592962384224], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.022573277354240417, -3.6548683643341064, 0.401052325963974], "link_right_finger": [0.03452229127287865, 3.6546030044555664, 0.36326950788497925]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377379059791565, 0.4591708779335022, 0.45917078852653503, -0.537738025188446]}, "link_3": {"xyz": [0.06135522574186325, 2.5006011128425598e-05, 0.37474074959754944], "quat_xyzw": [0.006705004721879959, 0.7070749998092651, -0.7070749998092651, 0.006705210078507662]}, "link_4": {"xyz": [0.3051733374595642, 2.5080516934394836e-05, 0.4393761456012726], "quat_xyzw": [-0.495250403881073, 0.5047048926353455, -0.5047050714492798, -0.49525025486946106]}, "link_5": {"xyz": [0.3460655212402344, 9.12696123123169e-08, 0.36613625288009644], "quat_xyzw": [0.5047021508216858, 0.5047078132629395, -0.4952476918697357, -0.49525296688079834]}, "link_6": {"xyz": [0.3072400391101837, 4.6720379032194614e-07, 0.33009567856788635], "quat_xyzw": [0.7070752382278442, 0.7070751786231995, 0.006689328700304031, 0.006681588478386402]}, "link_left_finger": {"xyz": [0.3475770056247711, -0.02037305012345314, 0.2703475058078766], "quat_xyzw": [0.49524760246276855, 0.5047022104263306, 0.5047077536582947, -0.4952530264854431]}, "link_right_finger": {"xyz": [0.2691909968852997, 0.0203752052038908, 0.2688654959201813], "quat_xyzw": [0.49524760246276855, 0.5047022104263306, 0.5047077536582947, -0.4952530264854431]}}}, {"t": 9.022, "phase": "hold", "bottle_xyz": [0.2802552282810211, 0.00019857133156619966, 0.20654870569705963], "bottle_quat_xyzw": [-0.0016421211184933782, -0.07650259137153625, -0.009152951650321484, 0.9970260858535767], "bottom_z": 0.15508853369619746, "q": [2.237123766235527e-07, 1.7281169891357422, 1.747023105621338, -1.5708190202713013, -1.1260925020906143e-05, 5.124664994582417e-07, 0.016625192016363144, -0.016625110059976578], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02907608449459076, -3.6554222106933594, 0.40795454382896423], "link_right_finger": [0.030276495963335037, 3.6548538208007812, 0.37126195430755615]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377435088157654, 0.4591643810272217, 0.4591642916202545, -0.5377436280250549]}, "link_3": {"xyz": [0.06136152893304825, 2.5006011128425598e-05, 0.37473976612091064], "quat_xyzw": [0.0066841174848377705, 0.7070752382278442, -0.7070751786231995, 0.006684328895062208]}, "link_4": {"xyz": [0.305183470249176, 2.5076791644096375e-05, 0.43936076760292053], "quat_xyzw": [-0.49525704979896545, 0.5046984553337097, -0.5046985745429993, -0.49525684118270874]}, "link_5": {"xyz": [0.346073716878891, 9.499490261077881e-08, 0.3661198019981384], "quat_xyzw": [0.5046955347061157, 0.5047014355659485, -0.4952542185783386, -0.49525967240333557]}, "link_6": {"xyz": [0.3072473108768463, 4.825415089726448e-07, 0.3300802409648895], "quat_xyzw": [0.707075297832489, 0.7070752382278442, 0.006680190563201904, 0.006672171410173178]}, "link_left_finger": {"xyz": [0.34758269786834717, -0.020373651757836342, 0.2703309655189514], "quat_xyzw": [0.49525415897369385, 0.5046956539154053, 0.5047013759613037, -0.4952597916126251]}, "link_right_finger": {"xyz": [0.26919668912887573, 0.02037607505917549, 0.26885104179382324], "quat_xyzw": [0.49525415897369385, 0.5046956539154053, 0.5047013759613037, -0.4952597916126251]}}}, {"t": 9.042000000000002, "phase": "hold", "bottle_xyz": [0.2802557945251465, 0.00019857507140841335, 0.20652180910110474], "bottle_quat_xyzw": [-0.001646780059672892, -0.07703705132007599, -0.00916947703808546, 0.9969847202301025], "bottom_z": 0.15505171451146477, "q": [1.0005494743836607e-07, 1.7281415462493896, 1.7469919919967651, -1.570801854133606, -1.1056567927880678e-05, 6.755003596481401e-07, 0.01662447676062584, -0.01662420853972435], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03076913207769394, -3.6549594402313232, 0.40820392966270447], "link_right_finger": [0.029682159423828125, 3.6553661823272705, 0.3728329539299011]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377491116523743, 0.4591577351093292, 0.45915764570236206, -0.5377492308616638]}, "link_3": {"xyz": [0.061367981135845184, 2.499110996723175e-05, 0.3747387230396271], "quat_xyzw": [0.0066644116304814816, 0.7070754170417786, -0.7070753574371338, 0.006664635613560677]}, "link_4": {"xyz": [0.30519354343414307, 2.506934106349945e-05, 0.4393461346626282], "quat_xyzw": [-0.49526676535606384, 0.5046889185905457, -0.5046889781951904, -0.49526655673980713]}, "link_5": {"xyz": [0.3460809588432312, 9.499490261077881e-08, 0.3661035895347595], "quat_xyzw": [0.5046860575675964, 0.5046918392181396, -0.495263934135437, -0.4952693581581116]}, "link_6": {"xyz": [0.3072531521320343, 4.784378688782454e-07, 0.3300655484199524], "quat_xyzw": [0.7070755362510681, 0.707075297832489, 0.006666549947112799, 0.006658615544438362]}, "link_left_finger": {"xyz": [0.3475862145423889, -0.020374374464154243, 0.27031469345092773], "quat_xyzw": [0.4952639043331146, 0.5046860575675964, 0.5046918392181396, -0.4952693581581116]}, "link_right_finger": {"xyz": [0.2692001760005951, 0.020376959815621376, 0.2688378095626831], "quat_xyzw": [0.4952639043331146, 0.5046860575675964, 0.5046918392181396, -0.4952693581581116]}}}, {"t": 9.062000000000001, "phase": "hold", "bottle_xyz": [0.2802548110485077, 0.00019850836542900652, 0.20650190114974976], "bottle_quat_xyzw": [-0.0016480502672493458, -0.07757212221622467, -0.009192200377583504, 0.9969429969787598], "bottom_z": 0.15502193127132982, "q": [1.4549307536526612e-07, 1.7281527519226074, 1.7469760179519653, -1.5707968473434448, -1.1198801075806841e-05, 5.757719918619841e-07, 0.016623787581920624, -0.016623366624116898], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.026761695742607117, -3.6552467346191406, 0.41046398878097534], "link_right_finger": [0.013833854347467422, 3.6557397842407227, 0.3756263554096222]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377517342567444, 0.45915472507476807, 0.4591546058654785, -0.5377517938613892]}, "link_3": {"xyz": [0.06137090176343918, 2.5020912289619446e-05, 0.37473824620246887], "quat_xyzw": [0.006654780823737383, 0.7070754766464233, -0.7070754766464233, 0.0066549708135426044]}, "link_4": {"xyz": [0.30519819259643555, 2.508796751499176e-05, 0.4393390119075775], "quat_xyzw": [-0.49527233839035034, 0.5046833753585815, -0.5046834945678711, -0.4952722191810608]}, "link_5": {"xyz": [0.34608399868011475, 9.872019290924072e-08, 0.36609557271003723], "quat_xyzw": [0.5046805739402771, 0.5046863555908203, -0.4952695965766907, -0.49527502059936523]}, "link_6": {"xyz": [0.3072553873062134, 4.827597877010703e-07, 0.33005836606025696], "quat_xyzw": [0.7070755362510681, 0.7070754170417786, 0.006658660247921944, 0.006650743540376425]}, "link_left_finger": {"xyz": [0.3475871682167053, -0.020375067368149757, 0.27030667662620544], "quat_xyzw": [0.4952695667743683, 0.5046806335449219, 0.5046862959861755, -0.49527508020401]}, "link_right_finger": {"xyz": [0.26920101046562195, 0.020377814769744873, 0.2688315212726593], "quat_xyzw": [0.4952695667743683, 0.5046806335449219, 0.5046862959861755, -0.49527508020401]}}}, {"t": 9.082, "phase": "hold", "bottle_xyz": [0.2802537977695465, 0.0001984148839255795, 0.20648542046546936], "bottle_quat_xyzw": [-0.0016560109797865152, -0.07810736447572708, -0.00921732559800148, 0.9969009757041931], "bottom_z": 0.15499563116720122, "q": [1.9535671924586495e-07, 1.7281574010849, 1.7469679117202759, -1.5707957744598389, -1.136593800765695e-05, 5.178157493901381e-07, 0.016623273491859436, -0.016622714698314667], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03823907673358917, -3.653928279876709, 0.4109555780887604], "link_right_finger": [0.02294139564037323, 3.655388832092285, 0.3774452209472656]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377527475357056, 0.45915350317955017, 0.4591533839702606, -0.5377528667449951]}, "link_3": {"xyz": [0.061372093856334686, 2.5006011128425598e-05, 0.37473806738853455], "quat_xyzw": [0.006650312338024378, 0.7070755362510681, -0.7070754766464233, 0.006650567054748535]}, "link_4": {"xyz": [0.30520015954971313, 2.50842422246933e-05, 0.43933576345443726], "quat_xyzw": [-0.4952753186225891, 0.5046805739402771, -0.5046806931495667, -0.4952751100063324]}, "link_5": {"xyz": [0.3460851311683655, 1.1734664440155029e-07, 0.36609184741973877], "quat_xyzw": [0.5046776533126831, 0.5046835541725159, -0.4952723979949951, -0.49527794122695923]}, "link_6": {"xyz": [0.30725613236427307, 5.089532351121306e-07, 0.3300550878047943], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006654702592641115, 0.006646593101322651]}, "link_left_finger": {"xyz": [0.3475871980190277, -0.02037551999092102, 0.2703029215335846], "quat_xyzw": [0.49527233839035034, 0.5046777129173279, 0.5046834945678711, -0.495278000831604]}, "link_right_finger": {"xyz": [0.2692010700702667, 0.02037849649786949, 0.2688286602497101], "quat_xyzw": [0.49527233839035034, 0.5046777129173279, 0.5046834945678711, -0.495278000831604]}}}, {"t": 9.102, "phase": "hold", "bottle_xyz": [0.28025296330451965, 0.00019834582053590566, 0.20647040009498596], "bottle_quat_xyzw": [-0.0016650742618367076, -0.07865939289331436, -0.009236778132617474, 0.9968574047088623], "bottom_z": 0.15497054543047933, "q": [1.579443278387771e-07, 1.7281594276428223, 1.7469642162322998, -1.5707951784133911, -1.1332643225614447e-05, 5.107425522510312e-07, 0.01662277802824974, -0.016622094437479973], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.022744707763195038, -3.6547632217407227, 0.40784144401550293], "link_right_finger": [0.036678165197372437, 3.655076503753662, 0.3671841621398926]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377532839775085, 0.4591529667377472, 0.45915287733078003, -0.5377533435821533]}, "link_3": {"xyz": [0.06137260049581528, 2.5006011128425598e-05, 0.37473800778388977], "quat_xyzw": [0.0066483039408922195, 0.7070755362510681, -0.7070755362510681, 0.006648469716310501]}, "link_4": {"xyz": [0.30520108342170715, 2.5061890482902527e-05, 0.43933427333831787], "quat_xyzw": [-0.4952765107154846, 0.504679262638092, -0.5046793818473816, -0.49527642130851746]}, "link_5": {"xyz": [0.34608566761016846, 6.51925802230835e-08, 0.36609014868736267], "quat_xyzw": [0.5046764612197876, 0.5046822428703308, -0.4952737092971802, -0.4952792525291443]}, "link_6": {"xyz": [0.30725646018981934, 4.52680978924036e-07, 0.33005356788635254], "quat_xyzw": [0.7070756554603577, 0.7070754170417786, 0.00665284926071763, 0.006644825451076031]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020376088097691536, 0.2703011929988861], "quat_xyzw": [0.4952736794948578, 0.5046764016151428, 0.5046822428703308, -0.4952791929244995]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020379051566123962, 0.26882731914520264], "quat_xyzw": [0.4952736794948578, 0.5046764016151428, 0.5046822428703308, -0.4952791929244995]}}}, {"t": 9.122000000000002, "phase": "hold", "bottle_xyz": [0.2802518904209137, 0.00019821895693894476, 0.20645606517791748], "bottle_quat_xyzw": [-0.0016737430123612285, -0.07924123853445053, -0.009247717447578907, 0.9968112111091614], "bottom_z": 0.15494566964343498, "q": [-1.764338719567604e-08, 1.7281602621078491, 1.746962070465088, -1.5707945823669434, -1.082313792721834e-05, 4.585142221458227e-07, 0.01662217266857624, -0.016621463000774384], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.009625576436519623, -3.653841018676758, 0.42227643728256226], "link_right_finger": [0.03811082988977432, 3.652657985687256, 0.3889618217945099]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535223960876, 0.4591526985168457, 0.4591526985168457, -0.5377535223960876]}, "link_3": {"xyz": [0.06137280911207199, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006647331640124321, 0.7070755362510681, -0.7070755958557129, 0.006647363305091858]}, "link_4": {"xyz": [0.3052015006542206, 2.5024637579917908e-05, 0.43933355808258057], "quat_xyzw": [-0.4952770471572876, 0.5046786665916443, -0.5046787261962891, -0.4952770471572876]}, "link_5": {"xyz": [0.34608587622642517, 2.0489096641540527e-08, 0.3660893440246582], "quat_xyzw": [0.5046760439872742, 0.5046814680099487, -0.4952743947505951, -0.4952796995639801]}, "link_6": {"xyz": [0.3072565793991089, 3.9506994653493166e-07, 0.3300528824329376], "quat_xyzw": [0.7070757150650024, 0.7070754766464233, 0.006651816423982382, 0.006644233129918575]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020376792177557945, 0.27030038833618164], "quat_xyzw": [0.49527445435523987, 0.5046760439872742, 0.5046815276145935, -0.4952796697616577]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02037959173321724, 0.2688266634941101], "quat_xyzw": [0.49527445435523987, 0.5046760439872742, 0.5046815276145935, -0.4952796697616577]}}}, {"t": 9.142000000000001, "phase": "hold", "bottle_xyz": [0.280251145362854, 0.00019811703532468528, 0.2064422369003296], "bottle_quat_xyzw": [-0.001682738889940083, -0.07981894910335541, -0.00926066655665636, 0.9967649579048157], "bottom_z": 0.1549214442869758, "q": [9.300191727845686e-09, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0799426490848418e-05, 3.0808826068096096e-07, 0.01662128046154976, -0.016620639711618423], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.029571808874607086, -3.6541740894317627, 0.40985000133514404], "link_right_finger": [0.027042560279369354, 3.653900146484375, 0.37834110856056213]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527421593666077, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 3.9326550904661417e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652106065303087, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020377671346068382, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020380401983857155, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.162, "phase": "hold", "bottle_xyz": [0.2802501916885376, 0.00019804998009931296, 0.206428661942482], "bottle_quat_xyzw": [-0.0016922216163948178, -0.08039074391126633, -0.00927641149610281, 0.9967188835144043], "bottom_z": 0.15489764643113246, "q": [3.0377975690498715e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0865805052162614e-05, 3.780655504215247e-07, 0.016620377078652382, -0.016619836911559105], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.025452472269535065, -3.6545732021331787, 0.41184014081954956], "link_right_finger": [0.030694343149662018, 3.6541996002197266, 0.37527745962142944]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.495274156332016, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 4.065950633957982e-07, 0.3300526738166809], "quat_xyzw": [0.7070756554603577, 0.7070754766464233, 0.006652149371802807, 0.006644478999078274]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020378565415740013, 0.2703002095222473], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046817660331726, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.02038123644888401, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046817660331726, -0.4952794909477234]}}}, {"t": 9.182, "phase": "hold", "bottle_xyz": [0.28024929761886597, 0.000197912726434879, 0.20641513168811798], "bottle_quat_xyzw": [-0.0017015038756653666, -0.08095373958349228, -0.009290908463299274, 0.9966731667518616], "bottom_z": 0.15487411639862741, "q": [3.050499941537055e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0861720511456951e-05, 3.96754586518e-07, 0.016619600355625153, -0.016619166359305382], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03166972100734711, -3.6540732383728027, 0.4123476445674896], "link_right_finger": [0.02581578865647316, 3.6541588306427, 0.371853768825531]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.495274156332016, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 4.064640961587429e-07, 0.3300526738166809], "quat_xyzw": [0.7070756554603577, 0.7070754766464233, 0.006652152631431818, 0.006644478999078274]}, "link_left_finger": {"xyz": [0.347587525844574, -0.02037934400141239, 0.2703002095222473], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046817660331726, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020381907001137733, 0.2688264548778534], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046817660331726, -0.4952794909477234]}}}, {"t": 9.202000000000002, "phase": "hold", "bottle_xyz": [0.28024837374687195, 0.00019784181495197117, 0.206401526927948], "bottle_quat_xyzw": [-0.0017110283952206373, -0.08151430636644363, -0.009304032661020756, 0.9966272711753845], "bottom_z": 0.1548506198648127, "q": [2.5681224258278235e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0853244020836428e-05, 4.2270312405889854e-07, 0.016618866473436356, -0.016618523746728897], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02541343867778778, -3.6530604362487793, 0.41408368945121765], "link_right_finger": [0.031206589192152023, 3.653426170349121, 0.3794170618057251]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.495274156332016, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 4.051544237881899e-07, 0.3300526738166809], "quat_xyzw": [0.7070756554603577, 0.7070754766464233, 0.006652157288044691, 0.006644449196755886]}, "link_left_finger": {"xyz": [0.347587525844574, -0.02038007415831089, 0.2703002095222473], "quat_xyzw": [0.4952741861343384, 0.5046761631965637, 0.5046817660331726, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020382553339004517, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046761631965637, 0.5046817660331726, -0.4952794909477234]}}}, {"t": 9.222000000000001, "phase": "hold", "bottle_xyz": [0.28024744987487793, 0.0001977533393073827, 0.2063879370689392], "bottle_quat_xyzw": [-0.0017194441752508283, -0.08208126574754715, -0.009316653944551945, 0.9965806603431702], "bottom_z": 0.15482709149582238, "q": [3.1707426018101614e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0848011697817128e-05, 4.157829209816555e-07, 0.016618112102150917, -0.01661784201860428], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03389142453670502, -3.653482675552368, 0.40856069326400757], "link_right_finger": [0.03408975899219513, 3.6531143188476562, 0.37831342220306396]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527421593666077, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 3.9367296267300844e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652095355093479, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020380837842822075, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.02038320153951645, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.242, "phase": "hold", "bottle_xyz": [0.28024643659591675, 0.00019768784113693982, 0.206374391913414], "bottle_quat_xyzw": [-0.0017280802130699158, -0.0826486200094223, -0.009325680322945118, 0.9965336918830872], "bottom_z": 0.1548036673469815, "q": [-1.826756701461818e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0725535503297579e-05, 3.8919648659430095e-07, 0.016617342829704285, -0.016617169603705406], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.024095430970191956, -3.653487205505371, 0.4099871516227722], "link_right_finger": [0.029315371066331863, 3.652780532836914, 0.3752683997154236]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527424573898315, -0.4952794909477234]}, "link_6": {"xyz": [0.30725687742233276, 3.86397005058825e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652090698480606, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020381616428494453, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020383866503834724, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.262, "phase": "hold", "bottle_xyz": [0.2802453637123108, 0.00019762050942517817, 0.2063608318567276], "bottle_quat_xyzw": [-0.001736310194246471, -0.08321485668420792, -0.009333482943475246, 0.9964864253997803], "bottom_z": 0.15478031388262298, "q": [-1.0518368398493294e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.073777639248874e-05, 3.904960124145873e-07, 0.01661651022732258, -0.0166164617985487], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.025660403072834015, -3.6532721519470215, 0.41739147901535034], "link_right_finger": [0.024104580283164978, 3.653201103210449, 0.37696248292922974]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527424573898315, -0.4952794909477234]}, "link_6": {"xyz": [0.30725687742233276, 3.8638245314359665e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652091164141893, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.02038244903087616, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020384570583701134, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.282, "phase": "hold", "bottle_xyz": [0.28024429082870483, 0.00019754946697503328, 0.2063473016023636], "bottle_quat_xyzw": [-0.0017424537800252438, -0.08377700299024582, -0.009341367520391941, 0.9964392185211182], "bottom_z": 0.1547571263968895, "q": [-4.899506578226465e-09, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0778679097711574e-05, 4.0606863649372826e-07, 0.016615690663456917, -0.01661575399339199], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02923721820116043, -3.6531569957733154, 0.4152706265449524], "link_right_finger": [0.02801245078444481, 3.653036117553711, 0.3728008270263672]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527424573898315, -0.4952794909477234]}, "link_6": {"xyz": [0.30725687742233276, 3.862660378217697e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652093958109617, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.02038326859474182, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.02038528025150299, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.302000000000001, "phase": "hold", "bottle_xyz": [0.28024327754974365, 0.00019747148326132447, 0.20633386075496674], "bottle_quat_xyzw": [-0.0017485902644693851, -0.08432711660861969, -0.009349528700113297, 0.9963927268981934], "bottom_z": 0.15473429819067813, "q": [-9.885005702869876e-09, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0755469702417031e-05, 3.9748670133121777e-07, 0.016614876687526703, -0.01661505177617073], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.022492215037345886, -3.6530683040618896, 0.40887385606765747], "link_right_finger": [0.030777394771575928, 3.653165340423584, 0.36531224846839905]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527424573898315, -0.4952794909477234]}, "link_6": {"xyz": [0.30725687742233276, 3.863533493131399e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652092095464468, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020384082570672035, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.02038598246872425, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.322000000000001, "phase": "hold", "bottle_xyz": [0.28024226427078247, 0.00019741781579796225, 0.20632047951221466], "bottle_quat_xyzw": [-0.0017572612268850207, -0.08487138897180557, -0.0093591483309865, 0.9963464140892029], "bottom_z": 0.15471169079890257, "q": [-7.494594278512068e-09, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0760169971035793e-05, 4.019354662432306e-07, 0.016614146530628204, -0.016614409163594246], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.0318988636136055, -3.652906894683838, 0.4165540337562561], "link_right_finger": [0.022680062800645828, 3.65303373336792, 0.3732050359249115]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527424573898315, -0.4952794909477234]}, "link_6": {"xyz": [0.30725687742233276, 3.863096935674548e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652093026787043, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020384812727570534, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020386625081300735, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.342, "phase": "hold", "bottle_xyz": [0.2802412509918213, 0.00019735413661692291, 0.2063070833683014], "bottle_quat_xyzw": [-0.0017646380001679063, -0.08541331440210342, -0.009365030564367771, 0.9963000416755676], "bottom_z": 0.1546891691553755, "q": [-1.2505616986402401e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0739514436863828e-05, 4.0297331338479125e-07, 0.016613462939858437, -0.016613775864243507], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.034250110387802124, -3.65250825881958, 0.4162634015083313], "link_right_finger": [0.024648912250995636, 3.652841091156006, 0.36761733889579773]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527424573898315, -0.4952794909477234]}, "link_6": {"xyz": [0.30725687742233276, 3.863096935674548e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652093026787043, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.0203854963183403, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020387258380651474, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.362, "phase": "hold", "bottle_xyz": [0.2802402675151825, 0.0001972960017155856, 0.20629379153251648], "bottle_quat_xyzw": [-0.00176947598811239, -0.08594835549592972, -0.009372806176543236, 0.9962539672851562], "bottom_z": 0.15466692713115612, "q": [-7.197035856165712e-09, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0775313967315014e-05, 4.103877415673196e-07, 0.016612792387604713, -0.01661314256489277], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.025916635990142822, -3.6528706550598145, 0.4170719087123871], "link_right_finger": [0.026173587888479233, 3.652655601501465, 0.37071216106414795]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527424573898315, -0.4952794909477234]}, "link_6": {"xyz": [0.30725687742233276, 3.8625148590654135e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.0066520944237709045, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020386165007948875, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020387891680002213, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.382000000000001, "phase": "hold", "bottle_xyz": [0.2802392542362213, 0.00019724636513274163, 0.20628055930137634], "bottle_quat_xyzw": [-0.0017778873443603516, -0.0864790678024292, -0.009380829520523548, 0.9962079524993896], "bottom_z": 0.154644875654847, "q": [3.876510668021638e-09, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.08088561319164e-05, 4.003714479949849e-07, 0.016612155362963676, -0.016612527891993523], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02951934188604355, -3.6525015830993652, 0.41727375984191895], "link_right_finger": [0.024840880185365677, 3.652556896209717, 0.36413097381591797]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527421593666077, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 3.93774826079607e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652092561125755, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020386796444654465, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020388515666127205, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.402000000000001, "phase": "hold", "bottle_xyz": [0.28023824095726013, 0.00019717028771992773, 0.20626729726791382], "bottle_quat_xyzw": [-0.001782490056939423, -0.08700138330459595, -0.009386391378939152, 0.9961624145507812], "bottom_z": 0.15462299068941954, "q": [3.0260514094493374e-09, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0828666745510418e-05, 3.969020951899438e-07, 0.01661154069006443, -0.016611913219094276], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02492634952068329, -3.652833938598633, 0.41758036613464355], "link_right_finger": [0.023508716374635696, 3.6526474952697754, 0.3698109984397888]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527421593666077, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 3.9380392991006374e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652092095464468, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.02038741111755371, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020389128476381302, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.422, "phase": "hold", "bottle_xyz": [0.28023725748062134, 0.00019712037465069443, 0.20625416934490204], "bottle_quat_xyzw": [-0.0017906854627653956, -0.08751717954874039, -0.009394272230565548, 0.9961171746253967], "bottom_z": 0.15460140291490077, "q": [1.494525392331525e-09, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0838170055649243e-05, 4.047827815156779e-07, 0.01661096140742302, -0.016611333936452866], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.022012576460838318, -3.6523265838623047, 0.4122541844844818], "link_right_finger": [0.028436783701181412, 3.65207576751709, 0.36602407693862915]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527421593666077, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 3.937457222491503e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.00665209349244833, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020387990400195122, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020389707759022713, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.442, "phase": "hold", "bottle_xyz": [0.28023621439933777, 0.00019708872423507273, 0.20624107122421265], "bottle_quat_xyzw": [-0.0017963419668376446, -0.08802827447652817, -0.00940130464732647, 0.996071994304657], "bottom_z": 0.1545799761066848, "q": [-5.472113873139506e-10, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0818835107784253e-05, 3.9875456536719867e-07, 0.0166104007512331, -0.016610756516456604], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03461955487728119, -3.6518518924713135, 0.41501978039741516], "link_right_finger": [0.026393748819828033, 3.652090072631836, 0.36401069164276123]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527421593666077, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 3.93774826079607e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652092561125755, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.02038855105638504, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020390285179018974, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.462000000000002, "phase": "hold", "bottle_xyz": [0.28023526072502136, 0.00019697059178724885, 0.20622803270816803], "bottle_quat_xyzw": [-0.0017994616646319628, -0.08853243291378021, -0.009409752674400806, 0.9960271716117859], "bottom_z": 0.15455877474257826, "q": [-3.2415208295333287e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0730726899055298e-05, 3.746309289454075e-07, 0.016609834507107735, -0.01661018282175064], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.024474099278450012, -3.6516783237457275, 0.4137207567691803], "link_right_finger": [0.02910638228058815, 3.651740074157715, 0.35619786381721497]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527424573898315, -0.4952794909477234]}, "link_6": {"xyz": [0.30725687742233276, 3.864843165501952e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.0066520883701741695, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020389124751091003, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.02039085142314434, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.482000000000001, "phase": "hold", "bottle_xyz": [0.2802342176437378, 0.00019689637701958418, 0.2062150090932846], "bottle_quat_xyzw": [-0.0018046689219772816, -0.08902610093355179, -0.009417316876351833, 0.9959831833839417], "bottom_z": 0.15453780940854742, "q": [-2.4792083053171154e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.074298324965639e-05, 3.816947469204024e-07, 0.01660928502678871, -0.016609633341431618], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02576550841331482, -3.652017116546631, 0.41112709045410156], "link_right_finger": [0.029180604964494705, 3.651951551437378, 0.36153650283813477]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527424573898315, -0.4952794909477234]}, "link_6": {"xyz": [0.30725687742233276, 3.864552127197385e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652089301496744, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020389674231410027, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020391400903463364, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.502, "phase": "hold", "bottle_xyz": [0.2802332937717438, 0.00019682510173879564, 0.2062019407749176], "bottle_quat_xyzw": [-0.001809371868148446, -0.08951395750045776, -0.009425465948879719, 0.995939314365387], "bottom_z": 0.1545169421525171, "q": [-1.4246816171237242e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.078340665117139e-05, 4.029635647384566e-07, 0.01660878211259842, -0.016609111800789833], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.03208544850349426, -3.6516218185424805, 0.42373204231262207], "link_right_finger": [0.029321283102035522, 3.6519784927368164, 0.3677249550819397]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527424573898315, -0.4952794909477234]}, "link_6": {"xyz": [0.30725687742233276, 3.863096935674548e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652093026787043, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.02039017714560032, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.02039192244410515, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.522, "phase": "hold", "bottle_xyz": [0.28023239970207214, 0.00019672472262755036, 0.20618882775306702], "bottle_quat_xyzw": [-0.0018150502583011985, -0.08999816328287125, -0.009433764964342117, 0.9958956241607666], "bottom_z": 0.1544961374367516, "q": [5.300868632929223e-10, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0827879123098683e-05, 4.072446699865395e-07, 0.01660829596221447, -0.016608599573373795], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.024689562618732452, -3.651926040649414, 0.42171818017959595], "link_right_finger": [0.027689527720212936, 3.6518168449401855, 0.3609471619129181]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527421593666077, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 3.9371661841869354e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652093958109617, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020390653982758522, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020392442122101784, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.542000000000002, "phase": "hold", "bottle_xyz": [0.28023141622543335, 0.00019664331921376288, 0.20617583394050598], "bottle_quat_xyzw": [-0.0018211969872936606, -0.09047354757785797, -0.009442136622965336, 0.9958524107933044], "bottom_z": 0.15447563918381052, "q": [-2.914928076691581e-09, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0812587788677774e-05, 4.036795928641368e-07, 0.01660783961415291, -0.016608111560344696], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02920791506767273, -3.6518588066101074, 0.41558924317359924], "link_right_finger": [0.026531320065259933, 3.651730537414551, 0.3685394525527954]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527421593666077, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 3.937457222491503e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.00665209349244833, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020391112193465233, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.02039293199777603, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.562000000000001, "phase": "hold", "bottle_xyz": [0.28023049235343933, 0.00019656590302474797, 0.2061629295349121], "bottle_quat_xyzw": [-0.0018255796749144793, -0.09094210714101791, -0.009451491758227348, 0.9958096146583557], "bottom_z": 0.15445538380220095, "q": [-3.1337936690079005e-09, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0812634172907565e-05, 3.9997831891014357e-07, 0.01660742051899433, -0.016607655212283134], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.030093438923358917, -3.651512861251831, 0.41892585158348083], "link_right_finger": [0.03038298338651657, 3.6519031524658203, 0.3611423969268799]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527421593666077, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 3.93774826079607e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652092561125755, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.02039153128862381, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020393386483192444, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.582, "phase": "hold", "bottle_xyz": [0.2802296280860901, 0.00019646318105515093, 0.20614999532699585], "bottle_quat_xyzw": [-0.0018290713196620345, -0.09140545129776001, -0.009460031054913998, 0.9957671761512756], "bottom_z": 0.1544352252756887, "q": [-2.846906488329637e-09, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0825159733940382e-05, 3.9990538880374515e-07, 0.0166070107370615, -0.01660720817744732], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.020236507058143616, -3.6514949798583984, 0.4244145154953003], "link_right_finger": [0.03556879609823227, 3.6517281532287598, 0.367766410112381]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527421593666077, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 3.93774826079607e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652092561125755, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.02039194107055664, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.02039383351802826, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.602, "phase": "hold", "bottle_xyz": [0.28022876381874084, 0.00019636140496004373, 0.20613718032836914], "bottle_quat_xyzw": [-0.0018304043915122747, -0.0918634831905365, -0.009468549862504005, 0.9957249164581299], "bottom_z": 0.15441531226715102, "q": [-4.110212614705233e-09, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0809792001964524e-05, 3.977004325861344e-07, 0.01660660095512867, -0.016606761142611504], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.019850149750709534, -3.6514358520507812, 0.4176415205001831], "link_right_finger": [0.03884103521704674, 3.6514663696289062, 0.3623114228248596]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046762228012085, 0.5046817064285278, -0.49527421593666077, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 3.9380392991006374e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652092095464468, 0.006644478067755699]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020392348989844322, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020394280552864075, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046762228012085, 0.5046816468238831, -0.4952794909477234]}}}, {"t": 9.622000000000002, "phase": "hold", "bottle_xyz": [0.280227929353714, 0.00019627102301456034, 0.20612448453903198], "bottle_quat_xyzw": [-0.0018318475922569633, -0.09231475740671158, -0.00947681162506342, 0.9956830739974976], "bottom_z": 0.154395665718774, "q": [4.2981572079270336e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0953169294225518e-05, 4.319057325119502e-07, 0.016606217250227928, -0.016606340184807777], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.028667517006397247, -3.651444435119629, 0.4240122437477112], "link_right_finger": [0.021432895213365555, 3.651630163192749, 0.3638002872467041]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046761631965637, 0.5046817064285278, -0.495274156332016, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 4.120520316064358e-07, 0.3300527036190033], "quat_xyzw": [0.7070756554603577, 0.7070754766464233, 0.006652158685028553, 0.006644436623901129]}, "link_left_finger": {"xyz": [0.347587525844574, -0.02039271965622902, 0.2703002393245697], "quat_xyzw": [0.4952741861343384, 0.5046761631965637, 0.5046817660331726, -0.4952795207500458]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020394744351506233, 0.26882651448249817], "quat_xyzw": [0.4952741861343384, 0.5046761631965637, 0.5046817660331726, -0.4952795207500458]}}}, {"t": 9.642000000000001, "phase": "hold", "bottle_xyz": [0.2802271246910095, 0.00019621363026089966, 0.20611153542995453], "bottle_quat_xyzw": [-0.001832318608649075, -0.0927649438381195, -0.009486597031354904, 0.9956411719322205], "bottom_z": 0.1543758246523052, "q": [3.6259962143958546e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0945453141175676e-05, 3.748390327018569e-07, 0.01660587079823017, -0.016605939716100693], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02519731968641281, -3.6515865325927734, 0.4241502285003662], "link_right_finger": [0.022101182490587234, 3.6515426635742188, 0.36896204948425293]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046761631965637, 0.5046817064285278, -0.495274156332016, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 4.123867256566882e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.0066521489061415195, 0.006644436623901129]}, "link_left_finger": {"xyz": [0.347587525844574, -0.02039306052029133, 0.2703002691268921], "quat_xyzw": [0.495274156332016, 0.5046761631965637, 0.5046817064285278, -0.4952795207500458]}, "link_right_finger": {"xyz": [0.269201397895813, 0.02039513923227787, 0.26882651448249817], "quat_xyzw": [0.495274156332016, 0.5046761631965637, 0.5046817064285278, -0.4952795207500458]}}}, {"t": 9.662, "phase": "hold", "bottle_xyz": [0.2802262604236603, 0.0001961445523193106, 0.206098735332489], "bottle_quat_xyzw": [-0.0018309841398149729, -0.09321433305740356, -0.00949785765260458, 0.995599091053009], "bottom_z": 0.15435618652752212, "q": [2.2493235718457072e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0920382919721305e-05, 3.6517911894407007e-07, 0.01660555601119995, -0.016605574637651443], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.025562457740306854, -3.651315212249756, 0.4265037775039673], "link_right_finger": [0.029274940490722656, 3.651616096496582, 0.3647211194038391]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046761631965637, 0.5046817064285278, -0.495274156332016, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 4.1245948523283005e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.00665214704349637, 0.006644436623901129]}, "link_left_finger": {"xyz": [0.347587525844574, -0.02039337530732155, 0.2703002691268921], "quat_xyzw": [0.495274156332016, 0.5046761631965637, 0.5046817064285278, -0.4952795207500458]}, "link_right_finger": {"xyz": [0.269201397895813, 0.02039550431072712, 0.26882651448249817], "quat_xyzw": [0.495274156332016, 0.5046761631965637, 0.5046817064285278, -0.4952795207500458]}}}, {"t": 9.682, "phase": "hold", "bottle_xyz": [0.28022509813308716, 0.00019600898667704314, 0.2060859054327011], "bottle_quat_xyzw": [-0.0018293391913175583, -0.09367617964744568, -0.009515347890555859, 0.9955556392669678], "bottom_z": 0.15433637257557026, "q": [1.7841234267734762e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.092949059966486e-05, 3.867374687160918e-07, 0.016605248674750328, -0.016605233773589134], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02696927636861801, -3.6510095596313477, 0.42679503560066223], "link_right_finger": [0.02157660946249962, 3.650568723678589, 0.3695031702518463]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046761631965637, 0.5046817064285278, -0.495274156332016, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 4.123139660805464e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652150768786669, 0.006644436623901129]}, "link_left_finger": {"xyz": [0.347587525844574, -0.02039368264377117, 0.2703002691268921], "quat_xyzw": [0.495274156332016, 0.5046761631965637, 0.5046817064285278, -0.4952795207500458]}, "link_right_finger": {"xyz": [0.269201397895813, 0.02039584517478943, 0.26882651448249817], "quat_xyzw": [0.495274156332016, 0.5046761631965637, 0.5046817064285278, -0.4952795207500458]}}}, {"t": 9.702000000000002, "phase": "hold", "bottle_xyz": [0.28022390604019165, 0.0001958130014827475, 0.20607313513755798], "bottle_quat_xyzw": [-0.0018277295166626573, -0.09414269775152206, -0.00953108724206686, 0.9955114126205444], "bottom_z": 0.15431659238280726, "q": [2.100148144279501e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.092503316613147e-05, 3.738885254733759e-07, 0.016604863107204437, -0.01660481095314026], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.016315095126628876, -3.6511645317077637, 0.4260016083717346], "link_right_finger": [0.02846737951040268, 3.6513073444366455, 0.36730509996414185]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046761631965637, 0.5046817064285278, -0.495274156332016, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 4.124012775719166e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652148440480232, 0.006644436623901129]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020394068211317062, 0.2703002393245697], "quat_xyzw": [0.495274156332016, 0.5046761631965637, 0.5046817064285278, -0.4952795207500458]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020396267995238304, 0.26882651448249817], "quat_xyzw": [0.495274156332016, 0.5046761631965637, 0.5046817064285278, -0.4952795207500458]}}}, {"t": 9.722000000000001, "phase": "hold", "bottle_xyz": [0.2802227735519409, 0.00019562392844818532, 0.20606042444705963], "bottle_quat_xyzw": [-0.0018244879320263863, -0.09461090713739395, -0.009546121582388878, 0.9954668879508972], "bottom_z": 0.15429689184536774, "q": [1.400048521560393e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0910909622907639e-05, 3.935280119549134e-07, 0.0166044719517231, -0.016604388132691383], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02136838436126709, -3.6508235931396484, 0.4224601686000824], "link_right_finger": [0.022092588245868683, 3.6508677005767822, 0.3639208674430847]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046761631965637, 0.5046817064285278, -0.495274156332016, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 4.122557584196329e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652152165770531, 0.006644436623901129]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020394451916217804, 0.2703002691268921], "quat_xyzw": [0.4952741265296936, 0.5046761631965637, 0.5046817064285278, -0.4952795207500458]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020396683365106583, 0.26882651448249817], "quat_xyzw": [0.4952741265296936, 0.5046761631965637, 0.5046817064285278, -0.4952795207500458]}}}, {"t": 9.742, "phase": "hold", "bottle_xyz": [0.28022146224975586, 0.00019544152019079775, 0.2060476392507553], "bottle_quat_xyzw": [-0.0018221063073724508, -0.09508887678384781, -0.009558629244565964, 0.9954212307929993], "bottom_z": 0.1542770181494428, "q": [1.4303425999173669e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.0921497960225679e-05, 3.8707963767592446e-07, 0.01660408079624176, -0.016603993251919746], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.019021332263946533, -3.6505420207977295, 0.4227980375289917], "link_right_finger": [0.0246286503970623, 3.6509461402893066, 0.36349838972091675]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046761631965637, 0.5046817064285278, -0.495274156332016, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 4.123139660805464e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652150768786669, 0.006644436623901129]}, "link_left_finger": {"xyz": [0.347587525844574, -0.02039485052227974, 0.2703002691268921], "quat_xyzw": [0.495274156332016, 0.5046761631965637, 0.5046817064285278, -0.4952795207500458]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020397085696458817, 0.26882651448249817], "quat_xyzw": [0.495274156332016, 0.5046761631965637, 0.5046817064285278, -0.4952795207500458]}}}, {"t": 9.762, "phase": "hold", "bottle_xyz": [0.2802202105522156, 0.00019528299162629992, 0.2060348391532898], "bottle_quat_xyzw": [-0.0018214514711871743, -0.0955657884478569, -0.009570459835231304, 0.9953755140304565], "bottom_z": 0.1542571926923977, "q": [1.5994103819139127e-08, 1.7281607389450073, 1.7469618320465088, -1.5707929134368896, -1.094914387067547e-05, 3.818861955551256e-07, 0.016603687778115273, -0.01660359650850296], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.01595284789800644, -3.6505753993988037, 0.42121991515159607], "link_right_finger": [0.028099194169044495, 3.650182008743286, 0.3641033470630646]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527686834335327, 0.5046789050102234, -0.5046789646148682, -0.4952768087387085]}, "link_5": {"xyz": [0.3460861146450043, 2.0489096641540527e-08, 0.3660891652107239], "quat_xyzw": [0.5046761631965637, 0.5046817064285278, -0.495274156332016, -0.4952795207500458]}, "link_6": {"xyz": [0.30725687742233276, 4.123576218262315e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006652149837464094, 0.006644436623901129]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020395243540406227, 0.2703002691268921], "quat_xyzw": [0.495274156332016, 0.5046761631965637, 0.5046817064285278, -0.4952795207500458]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020397480577230453, 0.26882651448249817], "quat_xyzw": [0.495274156332016, 0.5046761631965637, 0.5046817064285278, -0.4952795207500458]}}}, {"t": 9.782, "phase": "hold", "bottle_xyz": [0.2802189290523529, 0.0001950908190337941, 0.20602180063724518], "bottle_quat_xyzw": [-0.001826434163376689, -0.09603353589773178, -0.009582296013832092, 0.9953303337097168], "bottom_z": 0.15423730975760486, "q": [-3.9828114140050275e-09, 1.7281607389450073, 1.7469618320465088, -1.5707931518554688, -1.0964639841404278e-05, 3.92450033359637e-07, 0.016603227704763412, -0.016603149473667145], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.033291228115558624, -3.6505346298217773, 0.42891865968704224], "link_right_finger": [0.008096396923065186, 3.650942325592041, 0.36598432064056396]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377535820007324, 0.45915254950523376, 0.45915254950523376, -0.5377535820007324]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.374737948179245], "quat_xyzw": [0.006647070869803429, 0.7070755362510681, -0.7070755362510681, 0.006647142115980387]}, "link_4": {"xyz": [0.3052016496658325, 2.5024637579917908e-05, 0.43933334946632385], "quat_xyzw": [-0.49527695775032043, 0.5046789050102234, -0.5046789646148682, -0.49527686834335327]}, "link_5": {"xyz": [0.3460861146450043, 3.5390257835388184e-08, 0.3660891652107239], "quat_xyzw": [0.504676103591919, 0.5046817064285278, -0.49527421593666077, -0.49527961015701294]}, "link_6": {"xyz": [0.3072568476200104, 4.181347321718931e-07, 0.3300526738166809], "quat_xyzw": [0.7070755958557129, 0.7070755362510681, 0.006652092095464468, 0.006644335109740496]}, "link_left_finger": {"xyz": [0.347587525844574, -0.020395684987306595, 0.2703002095222473], "quat_xyzw": [0.4952741861343384, 0.5046761631965637, 0.5046816468238831, -0.4952796399593353]}, "link_right_finger": {"xyz": [0.2692013680934906, 0.020397938787937164, 0.2688264846801758], "quat_xyzw": [0.4952741861343384, 0.5046761631965637, 0.5046816468238831, -0.4952796399593353]}}}, {"t": 9.802000000000001, "phase": "hold", "bottle_xyz": [0.28021755814552307, 0.00019489304395392537, 0.2060084491968155], "bottle_quat_xyzw": [-0.0018427981995046139, -0.09648928791284561, -0.009595483541488647, 0.9952861070632935], "bottom_z": 0.15421733363232504, "q": [-4.706467748860632e-08, 1.7281608581542969, 1.7469614744186401, -1.5707935094833374, -1.0757052223198116e-05, 2.9024175773884053e-07, 0.01660279929637909, -0.016602788120508194], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02848704904317856, -3.651412010192871, 0.41752374172210693], "link_right_finger": [0.018590565770864487, 3.651278495788574, 0.3618803024291992]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646926514804363, 0.7070755958557129, -0.7070755362510681, 0.006646980065852404]}, "link_4": {"xyz": [0.3052017092704773, 2.5017186999320984e-05, 0.4393332600593567], "quat_xyzw": [-0.49527713656425476, 0.5046787261962891, -0.5046787261962891, -0.4952770471572876]}, "link_5": {"xyz": [0.3460861146450043, 2.7939677238464355e-08, 0.3660890460014343], "quat_xyzw": [0.5046759843826294, 0.5046814680099487, -0.4952744245529175, -0.4952797591686249]}, "link_6": {"xyz": [0.307256817817688, 4.071771400049329e-07, 0.33005261421203613], "quat_xyzw": [0.7070756554603577, 0.7070755362510681, 0.006651786155998707, 0.006644131615757942]}, "link_left_finger": {"xyz": [0.3475874364376068, -0.020396145060658455, 0.27030012011528015], "quat_xyzw": [0.49527445435523987, 0.5046759843826294, 0.5046814680099487, -0.4952797591686249]}, "link_right_finger": {"xyz": [0.2692013382911682, 0.020398283377289772, 0.268826425075531], "quat_xyzw": [0.49527445435523987, 0.5046759843826294, 0.5046814680099487, -0.4952797591686249]}}}, {"t": 9.822000000000001, "phase": "hold", "bottle_xyz": [0.280216246843338, 0.00019468468963168561, 0.20599518716335297], "bottle_quat_xyzw": [-0.0018568378873169422, -0.09695254266262054, -0.009611350484192371, 0.9952409267425537], "bottom_z": 0.15419738193039684, "q": [-3.171110307675917e-08, 1.7281608581542969, 1.7469614744186401, -1.5707935094833374, -1.0776371709653176e-05, 3.405897359698429e-07, 0.016602426767349243, -0.01660250872373581], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.016401857137680054, -3.651040554046631, 0.41914159059524536], "link_right_finger": [0.024049725383520126, 3.6506004333496094, 0.3651273250579834]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646926514804363, 0.7070755958557129, -0.7070755362510681, 0.006646980065852404]}, "link_4": {"xyz": [0.3052017092704773, 2.5017186999320984e-05, 0.4393332600593567], "quat_xyzw": [-0.49527713656425476, 0.5046787261962891, -0.5046787261962891, -0.4952770471572876]}, "link_5": {"xyz": [0.3460861146450043, 2.7939677238464355e-08, 0.3660890460014343], "quat_xyzw": [0.5046759843826294, 0.5046814680099487, -0.4952744245529175, -0.4952797591686249]}, "link_6": {"xyz": [0.307256817817688, 4.068278940394521e-07, 0.33005261421203613], "quat_xyzw": [0.7070756554603577, 0.7070755362510681, 0.006651795469224453, 0.006644131615757942]}, "link_left_finger": {"xyz": [0.3475874364376068, -0.020396515727043152, 0.27030012011528015], "quat_xyzw": [0.4952744245529175, 0.5046759843826294, 0.5046814680099487, -0.4952797591686249]}, "link_right_finger": {"xyz": [0.2692013382911682, 0.020398559048771858, 0.268826425075531], "quat_xyzw": [0.4952744245529175, 0.5046759843826294, 0.5046814680099487, -0.4952797591686249]}}}, {"t": 9.842, "phase": "hold", "bottle_xyz": [0.2802148759365082, 0.00019444222562015057, 0.20598192512989044], "bottle_quat_xyzw": [-0.001867715734988451, -0.09741149097681046, -0.009627114050090313, 0.9951959252357483], "bottom_z": 0.1541775362198316, "q": [-2.72426845526752e-08, 1.7281608581542969, 1.7469614744186401, -1.5707935094833374, -1.0817360816872679e-05, 4.564980145005393e-07, 0.016602033749222755, -0.016602182760834694], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.017552867531776428, -3.6500320434570312, 0.4219989478588104], "link_right_finger": [0.029526352882385254, 3.650083541870117, 0.3649950325489044]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646926514804363, 0.7070755958557129, -0.7070755362510681, 0.006646980065852404]}, "link_4": {"xyz": [0.3052017092704773, 2.5017186999320984e-05, 0.4393332600593567], "quat_xyzw": [-0.49527713656425476, 0.5046787261962891, -0.5046787261962891, -0.4952770471572876]}, "link_5": {"xyz": [0.3460861146450043, 2.7939677238464355e-08, 0.3660890460014343], "quat_xyzw": [0.5046759843826294, 0.5046814680099487, -0.4952743947505951, -0.4952797591686249]}, "link_6": {"xyz": [0.307256817817688, 4.061148501932621e-07, 0.33005261421203613], "quat_xyzw": [0.7070757150650024, 0.7070754766464233, 0.0066518159583210945, 0.006644131615757942]}, "link_left_finger": {"xyz": [0.3475874364376068, -0.02039691060781479, 0.27030012011528015], "quat_xyzw": [0.49527445435523987, 0.5046759247779846, 0.5046815276145935, -0.4952797293663025]}, "link_right_finger": {"xyz": [0.2692013382911682, 0.020398899912834167, 0.268826425075531], "quat_xyzw": [0.49527445435523987, 0.5046759247779846, 0.5046815276145935, -0.4952797293663025]}}}, {"t": 9.862, "phase": "hold", "bottle_xyz": [0.28021344542503357, 0.0001942281232913956, 0.20596864819526672], "bottle_quat_xyzw": [-0.0018763347761705518, -0.09786193072795868, -0.00964262243360281, 0.9951515793800354], "bottom_z": 0.1541578401752877, "q": [-1.961043238907223e-08, 1.7281608581542969, 1.7469614744186401, -1.5707935094833374, -1.083027837012196e-05, 4.4394053588803217e-07, 0.01660160720348358, -0.016601812094449997], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.017237097024917603, -3.650927782058716, 0.419111967086792], "link_right_finger": [0.025063365697860718, 3.6507372856140137, 0.3650522828102112]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646926514804363, 0.7070755958557129, -0.7070755362510681, 0.006646980065852404]}, "link_4": {"xyz": [0.3052017092704773, 2.5017186999320984e-05, 0.4393332600593567], "quat_xyzw": [-0.49527713656425476, 0.5046787261962891, -0.5046787261962891, -0.4952770471572876]}, "link_5": {"xyz": [0.3460861146450043, 2.7939677238464355e-08, 0.3660890460014343], "quat_xyzw": [0.5046759843826294, 0.5046814680099487, -0.4952743947505951, -0.4952797591686249]}, "link_6": {"xyz": [0.307256817817688, 4.062021616846323e-07, 0.33005261421203613], "quat_xyzw": [0.7070757150650024, 0.7070754766464233, 0.006651813630014658, 0.006644131615757942]}, "link_left_finger": {"xyz": [0.3475874364376068, -0.020397337153553963, 0.27030012011528015], "quat_xyzw": [0.49527445435523987, 0.5046759247779846, 0.5046815276145935, -0.4952797293663025]}, "link_right_finger": {"xyz": [0.2692013382911682, 0.020399268716573715, 0.2688264548778534], "quat_xyzw": [0.49527445435523987, 0.5046759247779846, 0.5046815276145935, -0.4952797293663025]}}}, {"t": 9.882000000000001, "phase": "hold", "bottle_xyz": [0.2802121341228485, 0.0001940015354193747, 0.205955371260643], "bottle_quat_xyzw": [-0.0018823787104338408, -0.09832359105348587, -0.009656391106545925, 0.9951058626174927], "bottom_z": 0.15413802782041025, "q": [-1.8174487692590446e-08, 1.7281608581542969, 1.7469614744186401, -1.5707935094833374, -1.0820897841767874e-05, 4.203404841973679e-07, 0.01660124771296978, -0.01660151779651642], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.026140786707401276, -3.6502742767333984, 0.4200538098812103], "link_right_finger": [0.021305259317159653, 3.650183916091919, 0.3704388737678528]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646926514804363, 0.7070755958557129, -0.7070755362510681, 0.006646980065852404]}, "link_4": {"xyz": [0.3052017092704773, 2.5017186999320984e-05, 0.4393332600593567], "quat_xyzw": [-0.49527713656425476, 0.5046787261962891, -0.5046787261962891, -0.4952770471572876]}, "link_5": {"xyz": [0.3460861146450043, 2.7939677238464355e-08, 0.3660890460014343], "quat_xyzw": [0.5046759843826294, 0.5046814680099487, -0.4952743947505951, -0.4952797591686249]}, "link_6": {"xyz": [0.307256817817688, 4.0521263144910336e-07, 0.33005261421203613], "quat_xyzw": [0.7070757150650024, 0.7070754766464233, 0.006651809439063072, 0.0066441018134355545]}, "link_left_finger": {"xyz": [0.3475874364376068, -0.020397698506712914, 0.27030012011528015], "quat_xyzw": [0.49527445435523987, 0.5046759247779846, 0.5046815276145935, -0.4952797591686249]}, "link_right_finger": {"xyz": [0.2692013382911682, 0.020399564877152443, 0.268826425075531], "quat_xyzw": [0.49527445435523987, 0.5046759247779846, 0.5046815276145935, -0.4952797591686249]}}}, {"t": 9.902000000000001, "phase": "hold", "bottle_xyz": [0.2802107632160187, 0.0001937700726557523, 0.20594218373298645], "bottle_quat_xyzw": [-0.0018870163476094604, -0.09877849370241165, -0.009669494815170765, 0.9950606822967529], "bottom_z": 0.1541184439309055, "q": [-2.4101138862420157e-08, 1.7281608581542969, 1.7469614744186401, -1.5707935094833374, -1.0791456588776782e-05, 4.0689133129490074e-07, 0.016600873321294785, -0.01660117320716381], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.010569170117378235, -3.6498606204986572, 0.41764479875564575], "link_right_finger": [0.027060136198997498, 3.650181293487549, 0.3689914345741272]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646926514804363, 0.7070755958557129, -0.7070755362510681, 0.006646980065852404]}, "link_4": {"xyz": [0.3052017092704773, 2.5017186999320984e-05, 0.4393332600593567], "quat_xyzw": [-0.49527713656425476, 0.5046787261962891, -0.5046787261962891, -0.4952770471572876]}, "link_5": {"xyz": [0.3460861146450043, 2.7939677238464355e-08, 0.3660890460014343], "quat_xyzw": [0.5046759843826294, 0.5046814680099487, -0.4952743947505951, -0.4952797591686249]}, "link_6": {"xyz": [0.307256817817688, 4.0640588849782944e-07, 0.33005261421203613], "quat_xyzw": [0.7070756554603577, 0.7070754766464233, 0.006651807110756636, 0.006644131615757942]}, "link_left_finger": {"xyz": [0.3475874364376068, -0.02039807103574276, 0.27030012011528015], "quat_xyzw": [0.4952744245529175, 0.5046759247779846, 0.5046815276145935, -0.4952797293663025]}, "link_right_finger": {"xyz": [0.2692013382911682, 0.020399896427989006, 0.2688264548778534], "quat_xyzw": [0.4952744245529175, 0.5046759247779846, 0.5046815276145935, -0.4952797293663025]}}}, {"t": 9.922, "phase": "hold", "bottle_xyz": [0.28020939230918884, 0.00019357248675078154, 0.2059289664030075], "bottle_quat_xyzw": [-0.0018910157959908247, -0.0992303192615509, -0.009683690965175629, 0.9950156211853027], "bottom_z": 0.15409891608143142, "q": [-2.8084365943925604e-09, 1.7281608581542969, 1.7469614744186401, -1.5707935094833374, -1.092211368813878e-05, 3.864162465561094e-07, 0.0166004691272974, -0.01660078577697277], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.019245736300945282, -3.6504926681518555, 0.4278355836868286], "link_right_finger": [0.020389176905155182, 3.650400161743164, 0.38021397590637207]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646926514804363, 0.7070755958557129, -0.7070755362510681, 0.006646980065852404]}, "link_4": {"xyz": [0.3052017092704773, 2.5017186999320984e-05, 0.4393332600593567], "quat_xyzw": [-0.49527713656425476, 0.5046787261962891, -0.5046787261962891, -0.4952770471572876]}, "link_5": {"xyz": [0.3460861146450043, 2.7939677238464355e-08, 0.3660890460014343], "quat_xyzw": [0.5046758651733398, 0.5046815276145935, -0.4952743649482727, -0.49527981877326965]}, "link_6": {"xyz": [0.307256817817688, 4.2172905523329973e-07, 0.33005261421203613], "quat_xyzw": [0.7070755958557129, 0.7070755362510681, 0.006651875097304583, 0.006644017528742552]}, "link_left_finger": {"xyz": [0.3475874364376068, -0.02039843611419201, 0.27030009031295776], "quat_xyzw": [0.4952743351459503, 0.5046759247779846, 0.5046815276145935, -0.49527984857559204]}, "link_right_finger": {"xyz": [0.2692013084888458, 0.020400308072566986, 0.268826425075531], "quat_xyzw": [0.4952743351459503, 0.5046759247779846, 0.5046815276145935, -0.49527984857559204]}}}, {"t": 9.942, "phase": "hold", "bottle_xyz": [0.28020772337913513, 0.00019328251073602587, 0.20591585338115692], "bottle_quat_xyzw": [-0.0018930289661511779, -0.09969305247068405, -0.0096872104331851, 0.9949693083763123], "bottom_z": 0.154079384367806, "q": [-6.254686013562605e-08, 1.7281608581542969, 1.7469608783721924, -1.5707943439483643, -1.0744595783762634e-05, 4.0035811821326206e-07, 0.016600167378783226, -0.01660050079226494], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.031306877732276917, -3.6508049964904785, 0.4154176712036133], "link_right_finger": [0.015834860503673553, 3.6505351066589355, 0.36580830812454224]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775239944458, 0.5046783685684204, -0.5046784281730652, -0.495277464389801]}, "link_5": {"xyz": [0.3460861146450043, 4.284083843231201e-08, 0.3660888373851776], "quat_xyzw": [0.5046756267547607, 0.5046810507774353, -0.4952748119831085, -0.49528005719184875]}, "link_6": {"xyz": [0.3072567880153656, 4.2632746044546366e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651212461292744, 0.00664367014542222]}, "link_left_finger": {"xyz": [0.34758731722831726, -0.020398760214447975, 0.27029991149902344], "quat_xyzw": [0.4952748119831085, 0.5046756267547607, 0.5046810507774353, -0.49528005719184875]}, "link_right_finger": {"xyz": [0.2692011892795563, 0.020400572568178177, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046756267547607, 0.5046810507774353, -0.49528005719184875]}}}, {"t": 9.962000000000002, "phase": "hold", "bottle_xyz": [0.28020572662353516, 0.00019304861780256033, 0.2059027999639511], "bottle_quat_xyzw": [-0.001891948631964624, -0.10017924010753632, -0.009678171947598457, 0.994920551776886], "bottom_z": 0.1540596351526632, "q": [-3.947064186604621e-08, 1.7281608581542969, 1.7469608783721924, -1.5707943439483643, -1.0790346095745917e-05, 3.999638522600435e-07, 0.016599953174591064, -0.016600342467427254], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.01002192497253418, -3.6499810218811035, 0.4169495701789856], "link_right_finger": [0.01671905815601349, 3.649299144744873, 0.35450053215026855]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775239944458, 0.5046783685684204, -0.5046784281730652, -0.495277464389801]}, "link_5": {"xyz": [0.3460861146450043, 4.284083843231201e-08, 0.3660888373851776], "quat_xyzw": [0.5046756863594055, 0.5046811103820801, -0.4952748119831085, -0.49528011679649353]}, "link_6": {"xyz": [0.3072567880153656, 4.177563823759556e-07, 0.3300524353981018], "quat_xyzw": [0.7070756554603577, 0.7070755362510681, 0.006651254836469889, 0.00664368225261569]}, "link_left_finger": {"xyz": [0.34758731722831726, -0.02039898931980133, 0.27029991149902344], "quat_xyzw": [0.4952748119831085, 0.5046756863594055, 0.5046811103820801, -0.49528008699417114]}, "link_right_finger": {"xyz": [0.2692011594772339, 0.02040073834359646, 0.26882630586624146], "quat_xyzw": [0.4952748119831085, 0.5046756863594055, 0.5046811103820801, -0.49528008699417114]}}}, {"t": 9.982000000000001, "phase": "hold", "bottle_xyz": [0.28020381927490234, 0.00019278326362837106, 0.20588979125022888], "bottle_quat_xyzw": [-0.0018907975172623992, -0.10065679997205734, -0.009669947437942028, 0.9948724508285522], "bottom_z": 0.15404009736202096, "q": [-3.6340647824317784e-08, 1.7281608581542969, 1.7469608783721924, -1.5707943439483643, -1.0779617696243804e-05, 3.895652014307416e-07, 0.016599556431174278, -0.01659998670220375], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.016960687935352325, -3.6497421264648438, 0.4160005748271942], "link_right_finger": [0.020358964800834656, 3.6494030952453613, 0.36840081214904785]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775239944458, 0.5046783685684204, -0.5046784281730652, -0.495277464389801]}, "link_5": {"xyz": [0.3460861146450043, 4.284083843231201e-08, 0.3660888373851776], "quat_xyzw": [0.5046756267547607, 0.5046810507774353, -0.4952748119831085, -0.49528005719184875]}, "link_6": {"xyz": [0.3072567880153656, 4.264002200216055e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.0066512105986475945, 0.00664367014542222]}, "link_left_finger": {"xyz": [0.34758731722831726, -0.020399373024702072, 0.27029991149902344], "quat_xyzw": [0.4952748119831085, 0.5046756267547607, 0.5046810507774353, -0.49528005719184875]}, "link_right_finger": {"xyz": [0.2692011892795563, 0.020401086658239365, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046756267547607, 0.5046810507774353, -0.49528005719184875]}}}, {"t": 10.002, "phase": "hold", "bottle_xyz": [0.28020188212394714, 0.00019254261860623956, 0.20587679743766785], "bottle_quat_xyzw": [-0.0018865271704271436, -0.10113034397363663, -0.009664156474173069, 0.9948245286941528], "bottom_z": 0.15402067603975497, "q": [-3.0404518014393034e-08, 1.7281608581542969, 1.7469608783721924, -1.5707943439483643, -1.0802387805597391e-05, 3.951356859488442e-07, 0.01659906469285488, -0.016599532216787338], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.013551764190196991, -3.6508774757385254, 0.41188231110572815], "link_right_finger": [0.018801778554916382, 3.649793863296509, 0.36728233098983765]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775239944458, 0.5046783685684204, -0.5046784281730652, -0.495277464389801]}, "link_5": {"xyz": [0.3460861146450043, 4.284083843231201e-08, 0.3660888373851776], "quat_xyzw": [0.5046756863594055, 0.5046811103820801, -0.4952748119831085, -0.49528011679649353]}, "link_6": {"xyz": [0.3072567880153656, 4.177854862064123e-07, 0.3300524353981018], "quat_xyzw": [0.7070756554603577, 0.7070755362510681, 0.006651253905147314, 0.00664368225261569]}, "link_left_finger": {"xyz": [0.34758731722831726, -0.020399877801537514, 0.27029991149902344], "quat_xyzw": [0.4952748119831085, 0.5046756863594055, 0.5046811103820801, -0.49528008699417114]}, "link_right_finger": {"xyz": [0.2692011594772339, 0.020401548594236374, 0.26882630586624146], "quat_xyzw": [0.4952748119831085, 0.5046756863594055, 0.5046811103820801, -0.49528008699417114]}}}, {"t": 10.022, "phase": "hold", "bottle_xyz": [0.28019991517066956, 0.00019227189477533102, 0.20586374402046204], "bottle_quat_xyzw": [-0.0018861184362322092, -0.10160113871097565, -0.00965979415923357, 0.9947764873504639], "bottom_z": 0.15400127865315794, "q": [-2.4737824233511674e-08, 1.7281608581542969, 1.7469608783721924, -1.5707943439483643, -1.0829737220774405e-05, 4.0043664739641827e-07, 0.01659873127937317, -0.016599228605628014], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.025939524173736572, -3.6501431465148926, 0.4152944087982178], "link_right_finger": [0.017487920820713043, 3.6501452922821045, 0.36308377981185913]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775239944458, 0.5046783685684204, -0.5046784281730652, -0.495277464389801]}, "link_5": {"xyz": [0.3460861146450043, 4.284083843231201e-08, 0.3660888373851776], "quat_xyzw": [0.5046756863594055, 0.5046811103820801, -0.4952748119831085, -0.49528011679649353]}, "link_6": {"xyz": [0.3072567880153656, 4.177563823759556e-07, 0.3300524353981018], "quat_xyzw": [0.7070756554603577, 0.7070755362510681, 0.006651254836469889, 0.00664368225261569]}, "link_left_finger": {"xyz": [0.34758731722831726, -0.020400211215019226, 0.27029991149902344], "quat_xyzw": [0.4952748119831085, 0.5046756863594055, 0.5046811103820801, -0.49528008699417114]}, "link_right_finger": {"xyz": [0.2692011594772339, 0.0204018522053957, 0.26882630586624146], "quat_xyzw": [0.4952748119831085, 0.5046756863594055, 0.5046811103820801, -0.49528008699417114]}}}, {"t": 10.042000000000002, "phase": "hold", "bottle_xyz": [0.2801980674266815, 0.00019198771042283624, 0.20585070550441742], "bottle_quat_xyzw": [-0.0018887562910094857, -0.10206916928291321, -0.00965541135519743, 0.9947287440299988], "bottom_z": 0.15398197965117874, "q": [-3.946329485415845e-08, 1.7281608581542969, 1.7469608783721924, -1.5707943439483643, -1.0824008313647937e-05, 4.2976714098585944e-07, 0.016598479822278023, -0.016598990187048912], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02389143407344818, -3.6498026847839355, 0.4156891107559204], "link_right_finger": [0.012712206691503525, 3.6497793197631836, 0.37046632170677185]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775239944458, 0.5046783685684204, -0.5046784281730652, -0.495277464389801]}, "link_5": {"xyz": [0.3460861146450043, 4.284083843231201e-08, 0.3660888373851776], "quat_xyzw": [0.5046756863594055, 0.5046811103820801, -0.4952748119831085, -0.49528011679649353]}, "link_6": {"xyz": [0.3072567880153656, 4.175817593932152e-07, 0.3300524353981018], "quat_xyzw": [0.7070756554603577, 0.7070754766464233, 0.006651259493082762, 0.006643681321293116]}, "link_left_finger": {"xyz": [0.34758731722831726, -0.020400460809469223, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046756267547607, 0.5046811103820801, -0.49528005719184875]}, "link_right_finger": {"xyz": [0.2692011594772339, 0.020402081310749054, 0.26882630586624146], "quat_xyzw": [0.4952748119831085, 0.5046756267547607, 0.5046811103820801, -0.49528005719184875]}}}, {"t": 10.062000000000001, "phase": "hold", "bottle_xyz": [0.2801963984966278, 0.00019177082867827266, 0.20583754777908325], "bottle_quat_xyzw": [-0.0018928436329588294, -0.1025356724858284, -0.009650493040680885, 0.9946807622909546], "bottom_z": 0.1539626271288468, "q": [-3.407424742363219e-08, 1.7281608581542969, 1.7469608783721924, -1.5707943439483643, -1.0770527296699584e-05, 4.2586444237713295e-07, 0.016598226502537727, -0.016598738729953766], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.020444706082344055, -3.6492443084716797, 0.4125214219093323], "link_right_finger": [0.011509299278259277, 3.649165630340576, 0.3761233687400818]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775239944458, 0.5046783685684204, -0.5046784281730652, -0.495277464389801]}, "link_5": {"xyz": [0.3460861146450043, 4.284083843231201e-08, 0.3660888373851776], "quat_xyzw": [0.5046756267547607, 0.5046810507774353, -0.4952748119831085, -0.49528005719184875]}, "link_6": {"xyz": [0.3072567880153656, 4.262110451236367e-07, 0.3300524652004242], "quat_xyzw": [0.7070756554603577, 0.7070754766464233, 0.006651217117905617, 0.00664367014542222]}, "link_left_finger": {"xyz": [0.34758731722831726, -0.02040070854127407, 0.27029991149902344], "quat_xyzw": [0.4952748417854309, 0.5046756267547607, 0.5046811103820801, -0.49528005719184875]}, "link_right_finger": {"xyz": [0.2692011594772339, 0.020402345806360245, 0.26882633566856384], "quat_xyzw": [0.4952748417854309, 0.5046756267547607, 0.5046811103820801, -0.49528005719184875]}}}, {"t": 10.082, "phase": "hold", "bottle_xyz": [0.28019484877586365, 0.00019157450878992677, 0.2058243751525879], "bottle_quat_xyzw": [-0.0018956628628075123, -0.1029953882098198, -0.009648624807596207, 0.9946332573890686], "bottom_z": 0.15394339406918486, "q": [-2.1619806389594487e-08, 1.7281608581542969, 1.7469608783721924, -1.5707943439483643, -1.0823114280356094e-05, 4.2488395024520287e-07, 0.016597870737314224, -0.016598360612988472], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02293386310338974, -3.649461507797241, 0.41357290744781494], "link_right_finger": [0.012469224631786346, 3.6492700576782227, 0.3688386082649231]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775239944458, 0.5046783685684204, -0.5046784281730652, -0.495277464389801]}, "link_5": {"xyz": [0.3460861146450043, 4.284083843231201e-08, 0.3660888373851776], "quat_xyzw": [0.5046756863594055, 0.5046811103820801, -0.4952748119831085, -0.49528011679649353]}, "link_6": {"xyz": [0.3072567880153656, 4.1646126192063093e-07, 0.3300524353981018], "quat_xyzw": [0.7070756554603577, 0.7070754766464233, 0.006651258561760187, 0.006643651518970728]}, "link_left_finger": {"xyz": [0.34758731722831726, -0.020401066169142723, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046756267547607, 0.5046811103820801, -0.49528005719184875]}, "link_right_finger": {"xyz": [0.2692011594772339, 0.020402712747454643, 0.26882630586624146], "quat_xyzw": [0.4952748119831085, 0.5046756267547607, 0.5046811103820801, -0.49528005719184875]}}}, {"t": 10.102, "phase": "hold", "bottle_xyz": [0.280193030834198, 0.00019139665528200567, 0.20581123232841492], "bottle_quat_xyzw": [-0.0018976809224113822, -0.10344593971967697, -0.009645307436585426, 0.9945865273475647], "bottom_z": 0.15392435438898874, "q": [1.6401028091195258e-08, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0947032023977954e-05, 3.7934862007205084e-07, 0.01659749448299408, -0.01659795455634594], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.01129196584224701, -3.6495654582977295, 0.4067811965942383], "link_right_finger": [0.023537613451480865, 3.6496894359588623, 0.3681464195251465]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1983730625361204e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651208736002445, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020401429384946823, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02040313184261322, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.122000000000002, "phase": "hold", "bottle_xyz": [0.2801913022994995, 0.00019124317623209208, 0.20579802989959717], "bottle_quat_xyzw": [-0.0019003708148375154, -0.10390264540910721, -0.009640505537390709, 0.9945389628410339], "bottom_z": 0.1539052178203412, "q": [7.756594477825729e-09, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.097122276405571e-05, 4.0926275346464536e-07, 0.016597168520092964, -0.01659759134054184], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.023270055651664734, -3.6500399112701416, 0.42122235894203186], "link_right_finger": [0.018693409860134125, 3.650153636932373, 0.3845129609107971]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1961902752518654e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651214323937893, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.02040175534784794, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02040349692106247, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.142000000000001, "phase": "hold", "bottle_xyz": [0.2801893949508667, 0.00019114668248221278, 0.20578470826148987], "bottle_quat_xyzw": [-0.001900317962281406, -0.1043829396367073, -0.009629733860492706, 0.9944887757301331], "bottom_z": 0.15388570247830383, "q": [1.081447376094502e-08, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0933876183116809e-05, 3.994042856447777e-07, 0.01659698598086834, -0.01659736968576908], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.017435699701309204, -3.6492390632629395, 0.4113965630531311], "link_right_finger": [0.022079676389694214, 3.649033308029175, 0.3711312413215637]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1969178710132837e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651212461292744, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020401936024427414, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02040371671319008, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.162, "phase": "hold", "bottle_xyz": [0.28018736839294434, 0.00019097092445008457, 0.20577123761177063], "bottle_quat_xyzw": [-0.001895799534395337, -0.10485891997814178, -0.009619026444852352, 0.9944388270378113], "bottom_z": 0.1538661409799087, "q": [7.410635216587025e-09, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0964115062961355e-05, 4.068171506332874e-07, 0.016596656292676926, -0.016597000882029533], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.009179756045341492, -3.6484153270721436, 0.41519901156425476], "link_right_finger": [0.02358384057879448, 3.6482646465301514, 0.37058839201927185]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1964813135564327e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651213858276606, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020402265712618828, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020404087379574776, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.182, "phase": "hold", "bottle_xyz": [0.28018543124198914, 0.00019083173538092524, 0.2057577669620514], "bottle_quat_xyzw": [-0.0018900979775935411, -0.10532932728528976, -0.009608151391148567, 0.9943892359733582], "bottom_z": 0.1538466971564933, "q": [4.910127415769239e-09, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0954174285870977e-05, 3.964604786688142e-07, 0.016596101224422455, -0.016596423462033272], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.016039662063121796, -3.649157762527466, 0.4127924144268036], "link_right_finger": [0.0209343358874321, 3.6489548683166504, 0.3692557215690613]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1970633901655674e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651211995631456, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020402822643518448, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02040466107428074, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.202000000000002, "phase": "hold", "bottle_xyz": [0.28018346428871155, 0.0001906786346808076, 0.20574428141117096], "bottle_quat_xyzw": [-0.0018845787271857262, -0.10579847544431686, -0.009597009979188442, 0.9943395256996155], "bottom_z": 0.1538273003772438, "q": [-2.945317878477738e-10, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0946131624223199e-05, 4.032350773286453e-07, 0.01659557595849037, -0.01659589447081089], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.020103558897972107, -3.6495046615600586, 0.41515225172042847], "link_right_finger": [0.016835711896419525, 3.649536609649658, 0.37031394243240356]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1966268327087164e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651213392615318, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020403346046805382, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02040519379079342, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.222000000000001, "phase": "hold", "bottle_xyz": [0.2801815867424011, 0.0001905002282001078, 0.20573079586029053], "bottle_quat_xyzw": [-0.001880086725577712, -0.10626187920570374, -0.009586001746356487, 0.9942901730537415], "bottom_z": 0.15380802107663855, "q": [-4.7117740820112886e-09, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.094209528673673e-05, 3.9979789789867937e-07, 0.016595186665654182, -0.01659548655152321], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.012495055794715881, -3.649142265319824, 0.4137992560863495], "link_right_finger": [0.02168513834476471, 3.6489744186401367, 0.3699430525302887]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1969178710132837e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651212461292744, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.02040373533964157, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02040559984743595, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.242, "phase": "hold", "bottle_xyz": [0.28017982840538025, 0.00019036154844798148, 0.20571745932102203], "bottle_quat_xyzw": [-0.0018768346635624766, -0.10671667754650116, -0.009575794450938702, 0.9942415952682495], "bottom_z": 0.15378904210316402, "q": [-5.560388594005872e-09, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.093744776881067e-05, 3.975530944444472e-07, 0.016594823449850082, -0.016595084220170975], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.028037138283252716, -3.6482725143432617, 0.4180607199668884], "link_right_finger": [0.009979553520679474, 3.6484262943267822, 0.36381566524505615]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1970633901655674e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651211995631456, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.02040410041809082, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020406000316143036, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.262, "phase": "hold", "bottle_xyz": [0.280178040266037, 0.0001902095100376755, 0.20570409297943115], "bottle_quat_xyzw": [-0.0018730812007561326, -0.10717139393091202, -0.009566685184836388, 0.9941927790641785], "bottom_z": 0.1537700774192394, "q": [-4.610055004405922e-09, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0927989023912232e-05, 4.0247954302685685e-07, 0.016594374552369118, -0.016594620421528816], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.014892332255840302, -3.6487321853637695, 0.41578543186187744], "link_right_finger": [0.019836634397506714, 3.648721218109131, 0.3684847950935364]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.196772351861e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651212926954031, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020404547452926636, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020406464114785194, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.282, "phase": "hold", "bottle_xyz": [0.28017619252204895, 0.00019005590002052486, 0.20569069683551788], "bottle_quat_xyzw": [-0.001869909930974245, -0.10762207210063934, -0.009555897675454617, 0.9941442012786865], "bottom_z": 0.1537511753256935, "q": [-3.9462739742646136e-09, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0936019862128887e-05, 4.089598064638267e-07, 0.016593921929597855, -0.01659414917230606], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.016695290803909302, -3.6488733291625977, 0.42038074135780334], "link_right_finger": [0.014830086380243301, 3.648937702178955, 0.36757832765579224]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1961902752518654e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651214323937893, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.0204050000756979, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02040693908929825, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.302000000000001, "phase": "hold", "bottle_xyz": [0.28017446398735046, 0.00018991949036717415, 0.20567739009857178], "bottle_quat_xyzw": [-0.001865729340352118, -0.10806695371866226, -0.009546509943902493, 0.994096040725708], "bottom_z": 0.1537324749787808, "q": [-1.4775071166539533e-09, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0943402230623178e-05, 3.9946743868313206e-07, 0.016593512147665024, -0.01659371145069599], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.02028624713420868, -3.6487979888916016, 0.4196989834308624], "link_right_finger": [0.010752663016319275, 3.648797035217285, 0.36875808238983154]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1969178710132837e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651212461292744, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.02040540985763073, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02040737308561802, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.322000000000001, "phase": "hold", "bottle_xyz": [0.2801726162433624, 0.00018977401487063617, 0.20566405355930328], "bottle_quat_xyzw": [-0.001862641191110015, -0.10851176083087921, -0.009534853510558605, 0.9940477013587952], "bottom_z": 0.15371378718079576, "q": [-1.4277254933858785e-09, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0943985216727015e-05, 4.1109447579401603e-07, 0.016593152657151222, -0.0165933258831501], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.018266066908836365, -3.6487739086151123, 0.41795456409454346], "link_right_finger": [0.013398248702287674, 3.648456573486328, 0.3638979494571686]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1960447560995817e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.00665121478959918, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.02040576934814453, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02040776051580906, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.342, "phase": "hold", "bottle_xyz": [0.28017085790634155, 0.00018962081230711192, 0.20565073192119598], "bottle_quat_xyzw": [-0.0018586318474262953, -0.10895965993404388, -0.009524378925561905, 0.9939988851547241], "bottom_z": 0.1536951188718752, "q": [-2.4930719710880567e-09, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0956092410197016e-05, 4.092367191788071e-07, 0.01659279316663742, -0.016592953354120255], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.013430170714855194, -3.6481363773345947, 0.42378097772598267], "link_right_finger": [0.018476542085409164, 3.6486189365386963, 0.36867159605026245]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1961902752518654e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651214323937893, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020406128838658333, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020408134907484055, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.362, "phase": "hold", "bottle_xyz": [0.2801690995693207, 0.00018949159129988402, 0.20563748478889465], "bottle_quat_xyzw": [-0.0018531812820583582, -0.10940330475568771, -0.009514366276562214, 0.9939501881599426], "bottom_z": 0.15367661691827916, "q": [-2.647784658194041e-09, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0933120393019635e-05, 3.9909124893711123e-07, 0.016592392697930336, -0.01659255288541317], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.014645852148532867, -3.648252010345459, 0.42051154375076294], "link_right_finger": [0.020979542285203934, 3.648190975189209, 0.3745169937610626]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1969178710132837e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651212461292744, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020406529307365417, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02040853165090084, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.382000000000001, "phase": "hold", "bottle_xyz": [0.28016725182533264, 0.00018933648243546486, 0.20562432706356049], "bottle_quat_xyzw": [-0.0018485569162294269, -0.10983961075544357, -0.009504176676273346, 0.9939022064208984], "bottom_z": 0.15365833160595246, "q": [1.1659473386771424e-10, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0989439942932222e-05, 4.0732285810918256e-07, 0.016591964289546013, -0.016592124477028847], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.009207040071487427, -3.648597240447998, 0.41579174995422363], "link_right_finger": [0.02208900824189186, 3.648374557495117, 0.367343544960022]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1964813135564327e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651213858276606, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.02040695771574974, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020408961921930313, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.402000000000001, "phase": "hold", "bottle_xyz": [0.28016555309295654, 0.00018918323621619493, 0.20561112463474274], "bottle_quat_xyzw": [-0.001844052691012621, -0.11027354001998901, -0.009493498131632805, 0.993854284286499], "bottom_z": 0.1536400690014749, "q": [-3.2254501292072746e-09, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0979034414049238e-05, 3.9683345676166937e-07, 0.016591550782322884, -0.016591716557741165], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.012046955525875092, -3.648691415786743, 0.4185163676738739], "link_right_finger": [0.02474971115589142, 3.6484978199005127, 0.36219900846481323]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1970633901655674e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651211995631456, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.02040737308561802, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020409369841217995, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.422, "phase": "hold", "bottle_xyz": [0.2801639139652252, 0.00018904377066064626, 0.20559802651405334], "bottle_quat_xyzw": [-0.0018397237872704864, -0.11070401966571808, -0.009483137167990208, 0.9938065409660339], "bottom_z": 0.15362198983044717, "q": [-3.818632521301879e-09, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0961432963085826e-05, 4.0166796111407166e-07, 0.016591208055615425, -0.016591371968388557], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.01606602966785431, -3.648369312286377, 0.41759198904037476], "link_right_finger": [0.019574616104364395, 3.6478328704833984, 0.3743196427822113]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.196772351861e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651212926954031, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.02040771394968033, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02040971629321575, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.442, "phase": "hold", "bottle_xyz": [0.28016215562820435, 0.00018894782988354564, 0.20558489859104156], "bottle_quat_xyzw": [-0.0018351504113525152, -0.11113490909337997, -0.009469962678849697, 0.993758499622345], "bottom_z": 0.1536039148829801, "q": [-1.2097430834856482e-09, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0972373274853453e-05, 3.947960749428603e-07, 0.01659085974097252, -0.01659099943935871], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.012433581054210663, -3.6477389335632324, 0.4205855131149292], "link_right_finger": [0.017286725342273712, 3.647568464279175, 0.3636466860771179]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1973544284701347e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651211529970169, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020408064126968384, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.0204100850969553, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.462000000000002, "phase": "hold", "bottle_xyz": [0.28016045689582825, 0.0001888629049062729, 0.20557186007499695], "bottle_quat_xyzw": [-0.0018326060380786657, -0.11156131327152252, -0.00945795327425003, 0.9937108755111694], "bottom_z": 0.15358601929259416, "q": [6.551618692007821e-10, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.096969936043024e-05, 4.101265460576542e-07, 0.016590457409620285, -0.016590556129813194], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.009603045880794525, -3.647549629211426, 0.42366981506347656], "link_right_finger": [0.014840081334114075, 3.647683620452881, 0.37321457266807556]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1961902752518654e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651214323937893, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.02040846459567547, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020410532131791115, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.482000000000001, "phase": "hold", "bottle_xyz": [0.2801586985588074, 0.00018876658577937633, 0.20555861294269562], "bottle_quat_xyzw": [-0.0018360940739512444, -0.11197434365749359, -0.009444591589272022, 0.993664562702179], "bottom_z": 0.15356810401694654, "q": [-7.069533847214871e-10, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0988563190039713e-05, 4.035263714285975e-07, 0.016590015962719917, -0.016590096056461334], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.01795317977666855, -3.6482644081115723, 0.4212822914123535], "link_right_finger": [0.012884821742773056, 3.648432731628418, 0.36829307675361633]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1966268327087164e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651213392615318, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020408904179930687, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020410990342497826, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.502, "phase": "hold", "bottle_xyz": [0.2801569104194641, 0.00018875104433391243, 0.20554538071155548], "bottle_quat_xyzw": [-0.0018380265682935715, -0.11239930987358093, -0.009430239908397198, 0.9936167001724243], "bottom_z": 0.1535501059026032, "q": [-2.2442341318651415e-09, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0948043382086325e-05, 4.0260022160509834e-07, 0.016589652746915817, -0.016589714214205742], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.013487681746482849, -3.64768648147583, 0.4188203513622284], "link_right_finger": [0.019641153514385223, 3.6472349166870117, 0.3649024963378906]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.196772351861e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651212926954031, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020409269258379936, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02041137032210827, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.522, "phase": "hold", "bottle_xyz": [0.28015509247779846, 0.00018868909683078527, 0.20553217828273773], "bottle_quat_xyzw": [-0.00183747464325279, -0.11281897127628326, -0.009414815343916416, 0.9935692548751831], "bottom_z": 0.15353223407863326, "q": [1.6292864279954244e-10, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0976026715070475e-05, 4.116991760838573e-07, 0.016589220613241196, -0.01658928208053112], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.009258486330509186, -3.647426128387451, 0.42252710461616516], "link_right_finger": [0.01441340520977974, 3.647292137145996, 0.36512523889541626]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1960447560995817e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.00665121478959918, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020409701392054558, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02041180618107319, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.542000000000002, "phase": "hold", "bottle_xyz": [0.28015321493148804, 0.00018863659352064133, 0.20551906526088715], "bottle_quat_xyzw": [-0.001838669297285378, -0.11324194073677063, -0.009401576593518257, 0.9935213327407837], "bottom_z": 0.1535144523262144, "q": [-4.4578901681191496e-10, 1.7281608581542969, 1.7469608783721924, -1.5707945823669434, -1.0976707926602103e-05, 4.048663129196939e-07, 0.016588754951953888, -0.01658882014453411], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.008040197193622589, -3.6475911140441895, 0.42134660482406616], "link_right_finger": [0.01815701276063919, 3.647570848464966, 0.36383289098739624]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.45915254950523376, 0.45915254950523376, -0.5377536416053772]}, "link_3": {"xyz": [0.06137295812368393, 2.5002285838127136e-05, 0.3747379779815674], "quat_xyzw": [0.006646695546805859, 0.7070755958557129, -0.7070755958557129, 0.006646762136369944]}, "link_4": {"xyz": [0.30520179867744446, 2.503208816051483e-05, 0.43933314085006714], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.3460860848426819, 2.7939677238464355e-08, 0.3660888373851776], "quat_xyzw": [0.5046755075454712, 0.5046810507774353, -0.4952748119831085, -0.4952802062034607]}, "link_6": {"xyz": [0.3072567284107208, 4.1966268327087164e-07, 0.3300524353981018], "quat_xyzw": [0.7070755958557129, 0.7070754766464233, 0.006651213392615318, 0.0066434964537620544]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020410167053341866, 0.27029988169670105], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020412268117070198, 0.26882636547088623], "quat_xyzw": [0.4952748119831085, 0.5046755075454712, 0.5046810507774353, -0.4952801764011383]}}}, {"t": 10.562000000000001, "phase": "hold", "bottle_xyz": [0.28015148639678955, 0.0001990959863178432, 0.20550569891929626], "bottle_quat_xyzw": [-0.001828246982768178, -0.11366013437509537, -0.009381336160004139, 0.9934737086296082], "bottom_z": 0.1534965062214601, "q": [-5.618220484393532e-07, 1.7281615734100342, 1.7469604015350342, -1.570793867111206, -9.588071407051757e-06, 2.1154413332169497e-07, 0.01658310741186142, -0.01658371090888977], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.012794926762580872, -3.60299015045166, 0.4151283800601959], "link_right_finger": [-0.012204483151435852, 3.6001665592193604, 0.39407286047935486]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071066498756409, 0.7071070075035095]}, "link_2": {"xyz": [0.020000001415610313, 2.499297261238098e-05, 0.11400000005960464], "quat_xyzw": [0.5377539396286011, 0.4591522216796875, 0.459152489900589, -0.537753701210022]}, "link_3": {"xyz": [0.06137315183877945, 2.4978071451187134e-05, 0.374737948179245], "quat_xyzw": [0.0066464487463235855, 0.7070755958557129, -0.7070755958557129, 0.00664614699780941]}, "link_4": {"xyz": [0.30520206689834595, 2.4881213903427124e-05, 0.4393327832221985], "quat_xyzw": [-0.4952775239944458, 0.5046782493591309, -0.5046780705451965, -0.4952777624130249]}, "link_5": {"xyz": [0.3460862934589386, -1.3783574104309082e-07, 0.36608847975730896], "quat_xyzw": [0.5046758651733398, 0.5046804547309875, -0.49527519941329956, -0.49528008699417114]}, "link_6": {"xyz": [0.30725693702697754, 2.1059531718492508e-07, 0.33005213737487793], "quat_xyzw": [0.7070757746696472, 0.7070753574371338, 0.0066505190916359425, 0.006643808912485838]}, "link_left_finger": {"xyz": [0.3475874066352844, -0.020416127517819405, 0.2702995836734772], "quat_xyzw": [0.4952754080295563, 0.5046756267547607, 0.5046806931495667, -0.49527987837791443]}, "link_right_finger": {"xyz": [0.26920127868652344, 0.020417096093297005, 0.26882603764533997], "quat_xyzw": [0.4952754080295563, 0.5046756267547607, 0.5046806931495667, -0.49527987837791443]}}}, {"t": 10.582, "phase": "hold", "bottle_xyz": [0.2801497280597687, 0.00019994152535218745, 0.20549282431602478], "bottle_quat_xyzw": [-0.0018094268161803484, -0.11404818296432495, -0.009357484057545662, 0.9934295415878296], "bottom_z": 0.1534794146018083, "q": [1.7830828369369556e-07, 1.7281614542007446, 1.7469604015350342, -1.5707941055297852, -1.1692166481225286e-05, 5.173598083274555e-07, 0.01657240279018879, -0.01657298021018505], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.00048085302114486694, -3.6816797256469727, 0.4026756286621094], "link_right_finger": [-0.002365250140428543, 3.6811394691467285, 0.3751906752586365]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.537753701210022, 0.4591524004936218, 0.45915231108665466, -0.5377537608146667]}, "link_3": {"xyz": [0.06137315183877945, 2.5006011128425598e-05, 0.3747378885746002], "quat_xyzw": [0.006646282505244017, 0.7070755362510681, -0.7070755362510681, 0.006646450143307447]}, "link_4": {"xyz": [0.3052019774913788, 2.5061890482902527e-05, 0.4393327832221985], "quat_xyzw": [-0.4952777326107025, 0.5046781301498413, -0.5046782493591309, -0.49527761340141296]}, "link_5": {"xyz": [0.3460862338542938, 6.51925802230835e-08, 0.3660884499549866], "quat_xyzw": [0.5046752095222473, 0.5046811699867249, -0.4952748119831085, -0.49528050422668457]}, "link_6": {"xyz": [0.3072568476200104, 4.667817847803235e-07, 0.33005207777023315], "quat_xyzw": [0.7070757150650024, 0.7070754766464233, 0.0066512878984212875, 0.0066430470906198025]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.02042643539607525, 0.2702994644641876], "quat_xyzw": [0.4952748417854309, 0.5046752095222473, 0.5046811699867249, -0.49528050422668457]}, "link_right_finger": {"xyz": [0.2692011892795563, 0.020428208634257317, 0.2688260078430176], "quat_xyzw": [0.4952748417854309, 0.5046752095222473, 0.5046811699867249, -0.49528050422668457]}}}, {"t": 10.602, "phase": "hold", "bottle_xyz": [0.2801479399204254, 0.00020052016770932823, 0.2054801881313324], "bottle_quat_xyzw": [-0.0017921951366588473, -0.11446297913789749, -0.009333011694252491, 0.9933820962905884], "bottom_z": 0.15346230570031005, "q": [1.0706641973001751e-07, 1.7281614542007446, 1.7469604015350342, -1.5707941055297852, -1.1514654943312053e-05, 8.018858466130041e-07, 0.01657220534980297, -0.01657266914844513], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.00946730375289917, -3.6713128089904785, 0.4089987277984619], "link_right_finger": [-0.004839111119508743, 3.671107292175293, 0.38865941762924194]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.537753701210022, 0.4591524004936218, 0.45915231108665466, -0.5377537608146667]}, "link_3": {"xyz": [0.06137315183877945, 2.5006011128425598e-05, 0.3747378885746002], "quat_xyzw": [0.006646282505244017, 0.7070755362510681, -0.7070755362510681, 0.006646450143307447]}, "link_4": {"xyz": [0.3052019774913788, 2.5061890482902527e-05, 0.4393327832221985], "quat_xyzw": [-0.4952777326107025, 0.5046781301498413, -0.5046782493591309, -0.49527761340141296]}, "link_5": {"xyz": [0.3460862338542938, 6.51925802230835e-08, 0.3660884499549866], "quat_xyzw": [0.5046752095222473, 0.5046811103820801, -0.4952748715877533, -0.4952804446220398]}, "link_6": {"xyz": [0.30725687742233276, 4.647299647331238e-07, 0.33005207777023315], "quat_xyzw": [0.7070757746696472, 0.7070754170417786, 0.006651207339018583, 0.006643106695264578]}, "link_left_finger": {"xyz": [0.34758731722831726, -0.020426657050848007, 0.2702994644641876], "quat_xyzw": [0.49527493119239807, 0.5046752095222473, 0.5046811699867249, -0.4952804148197174]}, "link_right_finger": {"xyz": [0.2692011892795563, 0.020428510382771492, 0.2688260078430176], "quat_xyzw": [0.49527493119239807, 0.5046752095222473, 0.5046811699867249, -0.4952804148197174]}}}, {"t": 10.622000000000002, "phase": "hold", "bottle_xyz": [0.2801460921764374, 0.0002003536792472005, 0.20546746253967285], "bottle_quat_xyzw": [-0.0017767660319805145, -0.11488665640354156, -0.009307663887739182, 0.9933334589004517], "bottom_z": 0.15344504898761394, "q": [9.019676383559272e-08, 1.7281614542007446, 1.7469604015350342, -1.5707941055297852, -1.1415389053581748e-05, 6.444553832807287e-07, 0.01657688431441784, -0.01657721772789955], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.001216895878314972, -3.6304752826690674, 0.4086669087409973], "link_right_finger": [-0.007879961282014847, 3.6306135654449463, 0.37723809480667114]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.537753701210022, 0.4591524004936218, 0.45915231108665466, -0.5377537608146667]}, "link_3": {"xyz": [0.06137315183877945, 2.5006011128425598e-05, 0.3747378885746002], "quat_xyzw": [0.006646282505244017, 0.7070755362510681, -0.7070755362510681, 0.006646450143307447]}, "link_4": {"xyz": [0.3052019774913788, 2.5061890482902527e-05, 0.4393327832221985], "quat_xyzw": [-0.4952777326107025, 0.5046781301498413, -0.5046782493591309, -0.49527761340141296]}, "link_5": {"xyz": [0.3460862338542938, 6.51925802230835e-08, 0.3660884499549866], "quat_xyzw": [0.5046752095222473, 0.5046811103820801, -0.4952748715877533, -0.4952804446220398]}, "link_6": {"xyz": [0.30725687742233276, 4.6461354941129684e-07, 0.33005207777023315], "quat_xyzw": [0.7070757150650024, 0.7070754766464233, 0.0066512092016637325, 0.006643106695264578]}, "link_left_finger": {"xyz": [0.34758731722831726, -0.020421970635652542, 0.2702994644641876], "quat_xyzw": [0.4952749013900757, 0.5046752095222473, 0.5046811103820801, -0.4952804446220398]}, "link_right_finger": {"xyz": [0.2692011892795563, 0.020423954352736473, 0.2688259780406952], "quat_xyzw": [0.4952749013900757, 0.5046752095222473, 0.5046811103820801, -0.4952804446220398]}}}, {"t": 10.642000000000001, "phase": "hold", "bottle_xyz": [0.2801443040370941, 0.00020004372345283628, 0.2054545283317566], "bottle_quat_xyzw": [-0.0017628439236432314, -0.11529114842414856, -0.00928416196256876, 0.9932867884635925], "bottom_z": 0.1534278239151487, "q": [8.659329608917687e-08, 1.7281614542007446, 1.7469604015350342, -1.5707943439483643, -1.1342397556290962e-05, 4.447151411568484e-07, 0.016577189788222313, -0.016577385365962982], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.002514265477657318, -3.6297192573547363, 0.42340409755706787], "link_right_finger": [0.006019510328769684, 3.6300086975097656, 0.37241894006729126]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.537753701210022, 0.4591524004936218, 0.45915231108665466, -0.5377537608146667]}, "link_3": {"xyz": [0.06137315183877945, 2.5006011128425598e-05, 0.3747378885746002], "quat_xyzw": [0.006646282505244017, 0.7070755362510681, -0.7070755362510681, 0.006646450143307447]}, "link_4": {"xyz": [0.3052019774913788, 2.5061890482902527e-05, 0.4393327832221985], "quat_xyzw": [-0.4952777624130249, 0.5046780705451965, -0.5046781897544861, -0.49527767300605774]}, "link_5": {"xyz": [0.34608620405197144, 7.264316082000732e-08, 0.3660884499549866], "quat_xyzw": [0.5046752095222473, 0.5046810507774353, -0.49527496099472046, -0.49528050422668457]}, "link_6": {"xyz": [0.3072568476200104, 4.5893830247223377e-07, 0.33005207777023315], "quat_xyzw": [0.7070756554603577, 0.7070755362510681, 0.0066511002369225025, 0.006643046159297228]}, "link_left_finger": {"xyz": [0.34758731722831726, -0.020421665161848068, 0.2702994644641876], "quat_xyzw": [0.49527493119239807, 0.5046752095222473, 0.5046809911727905, -0.49528053402900696]}, "link_right_finger": {"xyz": [0.2692011594772339, 0.020423775538802147, 0.2688260078430176], "quat_xyzw": [0.49527493119239807, 0.5046752095222473, 0.5046809911727905, -0.49528053402900696]}}}, {"t": 10.662, "phase": "hold", "bottle_xyz": [0.28014251589775085, 0.00020013362518511713, 0.2054416537284851], "bottle_quat_xyzw": [-0.0017454428598284721, -0.11568725854158401, -0.009259957820177078, 0.993241012096405], "bottom_z": 0.1534107805954717, "q": [8.8542755349863e-08, 1.7281614542007446, 1.7469604015350342, -1.5707945823669434, -1.1195559636689723e-05, 3.418733456328482e-07, 0.01657450571656227, -0.016574567183852196], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.004167549312114716, -3.6490747928619385, 0.414337158203125], "link_right_finger": [0.001898791640996933, 3.649326801300049, 0.3708374500274658]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.537753701210022, 0.4591524004936218, 0.45915231108665466, -0.5377537608146667]}, "link_3": {"xyz": [0.06137315183877945, 2.5006011128425598e-05, 0.3747378885746002], "quat_xyzw": [0.006646282505244017, 0.7070755362510681, -0.7070755362510681, 0.006646450143307447]}, "link_4": {"xyz": [0.3052019774913788, 2.5061890482902527e-05, 0.4393327832221985], "quat_xyzw": [-0.4952778220176697, 0.5046780109405518, -0.5046781301498413, -0.4952777326107025]}, "link_5": {"xyz": [0.34608617424964905, 7.264316082000732e-08, 0.3660884499549866], "quat_xyzw": [0.5046752095222473, 0.5046809315681458, -0.4952750504016876, -0.49528050422668457]}, "link_6": {"xyz": [0.3072567880153656, 4.565226845443249e-07, 0.33005210757255554], "quat_xyzw": [0.7070755958557129, 0.7070755362510681, 0.006650967989116907, 0.006643046159297228]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020424358546733856, 0.27029949426651], "quat_xyzw": [0.49527499079704285, 0.5046752095222473, 0.504680871963501, -0.49528053402900696]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020426571369171143, 0.26882606744766235], "quat_xyzw": [0.49527499079704285, 0.5046752095222473, 0.504680871963501, -0.49528053402900696]}}}, {"t": 10.682, "phase": "hold", "bottle_xyz": [0.2801407277584076, 0.00020030162704642862, 0.2054288685321808], "bottle_quat_xyzw": [-0.0017301816260442138, -0.11608745902776718, -0.009234501048922539, 0.993194580078125], "bottom_z": 0.15339381715211647, "q": [9.64065378639134e-08, 1.7281614542007446, 1.7469604015350342, -1.570794701576233, -1.119798980653286e-05, 3.821288032668235e-07, 0.016573496162891388, -0.016573462635278702], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.0007672756910324097, -3.6524500846862793, 0.4151461720466614], "link_right_finger": [-0.008927594870328903, 3.6523489952087402, 0.3716864585876465]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.537753701210022, 0.4591524004936218, 0.45915231108665466, -0.5377537608146667]}, "link_3": {"xyz": [0.06137315183877945, 2.5006011128425598e-05, 0.3747378885746002], "quat_xyzw": [0.006646282505244017, 0.7070755362510681, -0.7070755362510681, 0.006646450143307447]}, "link_4": {"xyz": [0.3052019774913788, 2.5061890482902527e-05, 0.4393327832221985], "quat_xyzw": [-0.49527788162231445, 0.504677951335907, -0.5046780705451965, -0.4952777624130249]}, "link_5": {"xyz": [0.34608617424964905, 7.264316082000732e-08, 0.3660884499549866], "quat_xyzw": [0.5046751499176025, 0.504680871963501, -0.4952751100063324, -0.49528053402900696]}, "link_6": {"xyz": [0.3072567880153656, 4.5850174501538277e-07, 0.33005210757255554], "quat_xyzw": [0.7070755958557129, 0.7070755958557129, 0.006650874391198158, 0.006643005181103945]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020425371825695038, 0.27029949426651], "quat_xyzw": [0.4952750504016876, 0.5046752095222473, 0.5046808123588562, -0.49528059363365173]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020427677780389786, 0.26882603764533997], "quat_xyzw": [0.4952750504016876, 0.5046752095222473, 0.5046808123588562, -0.49528059363365173]}}}, {"t": 10.702000000000002, "phase": "hold", "bottle_xyz": [0.2801390290260315, 0.000200283553567715, 0.20541605353355408], "bottle_quat_xyzw": [-0.0017164092278108, -0.116488516330719, -0.009210609830915928, 0.9931478500366211], "bottom_z": 0.15337684867529858, "q": [1.1970611524247943e-07, 1.7281614542007446, 1.7469604015350342, -1.5707948207855225, -1.1263884516665712e-05, 3.6760417287950986e-07, 0.01657421886920929, -0.016574082896113396], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.0030324235558509827, -3.6434860229492188, 0.41649699211120605], "link_right_finger": [-0.003152947872877121, 3.6435089111328125, 0.3712528944015503]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.537753701210022, 0.4591524004936218, 0.45915231108665466, -0.5377537608146667]}, "link_3": {"xyz": [0.06137315183877945, 2.5006011128425598e-05, 0.3747378885746002], "quat_xyzw": [0.006646282505244017, 0.7070755362510681, -0.7070755362510681, 0.006646450143307447]}, "link_4": {"xyz": [0.3052019774913788, 2.5061890482902527e-05, 0.4393327832221985], "quat_xyzw": [-0.49527791142463684, 0.504677951335907, -0.5046780705451965, -0.4952777922153473]}, "link_5": {"xyz": [0.34608617424964905, 7.264316082000732e-08, 0.3660884499549866], "quat_xyzw": [0.5046750903129578, 0.504680871963501, -0.4952751100063324, -0.49528056383132935]}, "link_6": {"xyz": [0.3072567880153656, 4.6328932512551546e-07, 0.33005213737487793], "quat_xyzw": [0.7070755958557129, 0.7070755958557129, 0.006650872062891722, 0.006642933003604412]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.02042463980615139, 0.2702995240688324], "quat_xyzw": [0.4952750504016876, 0.5046752095222473, 0.5046808123588562, -0.4952806532382965]}, "link_right_finger": {"xyz": [0.2692010700702667, 0.020427070558071136, 0.26882606744766235], "quat_xyzw": [0.4952750504016876, 0.5046752095222473, 0.5046808123588562, -0.4952806532382965]}}}, {"t": 10.722000000000001, "phase": "hold", "bottle_xyz": [0.2801373600959778, 0.00020020690863020718, 0.20540328323841095], "bottle_quat_xyzw": [-0.001702781650237739, -0.11688479781150818, -0.00918659195303917, 0.9931015968322754], "bottom_z": 0.15336000762028612, "q": [8.670392048770736e-08, 1.7281614542007446, 1.7469604015350342, -1.5707948207855225, -1.1144154086650815e-05, 3.499851572996704e-07, 0.01657438836991787, -0.016574159264564514], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.004923932254314423, -3.640612840652466, 0.4148682653903961], "link_right_finger": [-0.016558535397052765, 3.6396703720092773, 0.3688329756259918]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.537753701210022, 0.4591524004936218, 0.45915231108665466, -0.5377537608146667]}, "link_3": {"xyz": [0.06137315183877945, 2.5006011128425598e-05, 0.3747378885746002], "quat_xyzw": [0.006646282505244017, 0.7070755362510681, -0.7070755362510681, 0.006646450143307447]}, "link_4": {"xyz": [0.3052019774913788, 2.5061890482902527e-05, 0.4393327832221985], "quat_xyzw": [-0.49527791142463684, 0.504677951335907, -0.5046780705451965, -0.4952777922153473]}, "link_5": {"xyz": [0.34608617424964905, 7.264316082000732e-08, 0.3660884499549866], "quat_xyzw": [0.5046751499176025, 0.504680871963501, -0.4952751696109772, -0.49528056383132935]}, "link_6": {"xyz": [0.3072567582130432, 4.438188625499606e-07, 0.33005210757255554], "quat_xyzw": [0.7070755958557129, 0.7070755958557129, 0.006650838069617748, 0.0066429744474589825]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.0204244926571846, 0.27029949426651], "quat_xyzw": [0.49527508020401, 0.5046752095222473, 0.5046807527542114, -0.4952806234359741]}, "link_right_finger": {"xyz": [0.26920104026794434, 0.020426958799362183, 0.26882603764533997], "quat_xyzw": [0.49527508020401, 0.5046752095222473, 0.5046807527542114, -0.4952806234359741]}}}, {"t": 10.742, "phase": "hold", "bottle_xyz": [0.280134916305542, 0.00016343120660167187, 0.20539039373397827], "bottle_quat_xyzw": [-0.001656520296819508, -0.1173272579908371, -0.009133314713835716, 0.9930499792098999], "bottom_z": 0.1533426115722225, "q": [6.108192565079662e-07, 1.7281618118286133, 1.746959924697876, -1.5707948207855225, -1.087491909856908e-05, 2.3159684303664108e-07, 0.016598327085375786, -0.01659642718732357], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.00900324434041977, -3.7407217025756836, 0.3726195991039276], "link_right_finger": [-0.016759146004915237, 3.7439565658569336, 0.4029761552810669]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071070671081543, 0.7071065902709961]}, "link_2": {"xyz": [0.020000001415610313, 2.5015324354171753e-05, 0.11400000005960464], "quat_xyzw": [0.5377536416053772, 0.4591524600982666, 0.45915207266807556, -0.5377539992332458]}, "link_3": {"xyz": [0.06137322634458542, 2.5045126676559448e-05, 0.3747378885746002], "quat_xyzw": [0.006645776331424713, 0.7070755958557129, -0.7070755958557129, 0.006646361667662859]}, "link_4": {"xyz": [0.3052021861076355, 2.5253742933273315e-05, 0.4393325746059418], "quat_xyzw": [-0.4952782690525055, 0.5046775937080383, -0.5046780109405518, -0.49527788162231445]}, "link_5": {"xyz": [0.346086323261261, 2.868473529815674e-07, 0.3660881817340851], "quat_xyzw": [0.5046748518943787, 0.5046806931495667, -0.4952755272388458, -0.49528053402900696]}, "link_6": {"xyz": [0.30725690722465515, 6.432965165004134e-07, 0.33005189895629883], "quat_xyzw": [0.7070753574371338, 0.7070757746696472, 0.006650452967733145, 0.006642794236540794]}, "link_left_finger": {"xyz": [0.34758731722831726, -0.020400363951921463, 0.2702992558479309], "quat_xyzw": [0.49527522921562195, 0.5046752691268921, 0.5046803951263428, -0.4952809512615204]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020404865965247154, 0.26882585883140564], "quat_xyzw": [0.49527522921562195, 0.5046752691268921, 0.5046803951263428, -0.4952809512615204]}}}, {"t": 10.762, "phase": "hold", "bottle_xyz": [0.28013256192207336, 0.00016090081771835685, 0.2053762525320053], "bottle_quat_xyzw": [-0.001618764130398631, -0.11784002184867859, -0.009087023325264454, 0.992989718914032], "bottom_z": 0.1533232994473283, "q": [-5.289543310027511e-07, 1.7281618118286133, 1.7469600439071655, -1.5707937479019165, -8.432390131929424e-06, -5.140890380062046e-07, 0.016628656536340714, -0.016627101227641106], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.01619674637913704, -3.5097508430480957, 0.36886605620384216], "link_right_finger": [-0.012431655079126358, 3.5099315643310547, 0.39761507511138916]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071066498756409, 0.7071070075035095]}, "link_2": {"xyz": [0.020000001415610313, 2.499297261238098e-05, 0.11400000005960464], "quat_xyzw": [0.5377539396286011, 0.45915213227272034, 0.4591524004936218, -0.537753701210022]}, "link_3": {"xyz": [0.06137324124574661, 2.4978071451187134e-05, 0.3747378885746002], "quat_xyzw": [0.006646266207098961, 0.7070755958557129, -0.7070755362510681, 0.006645963992923498]}, "link_4": {"xyz": [0.3052021563053131, 2.4866312742233276e-05, 0.43933260440826416], "quat_xyzw": [-0.4952777028083801, 0.5046781897544861, -0.504677951335907, -0.49527785181999207]}, "link_5": {"xyz": [0.34608638286590576, -1.3783574104309082e-07, 0.36608827114105225], "quat_xyzw": [0.5046759843826294, 0.5046800971031189, -0.4952755570411682, -0.4952799677848816]}, "link_6": {"xyz": [0.3072569966316223, 1.840235199779272e-07, 0.3300519287586212], "quat_xyzw": [0.7070755362510681, 0.7070756554603577, 0.006650017574429512, 0.006643982604146004]}, "link_left_finger": {"xyz": [0.3475874364376068, -0.020370636135339737, 0.27029937505722046], "quat_xyzw": [0.495275616645813, 0.5046759843826294, 0.5046801567077637, -0.4952799677848816]}, "link_right_finger": {"xyz": [0.2692013084888458, 0.020373592153191566, 0.26882579922676086], "quat_xyzw": [0.495275616645813, 0.5046759843826294, 0.5046801567077637, -0.4952799677848816]}}}, {"t": 10.782, "phase": "hold", "bottle_xyz": [0.2801300287246704, 0.0001598445523995906, 0.20536181330680847], "bottle_quat_xyzw": [-0.0015835418598726392, -0.11825384199619293, -0.009042620658874512, 0.9929409623146057], "bottom_z": 0.15330472752307428, "q": [-3.157943240239547e-07, 1.7281618118286133, 1.7469600439071655, -1.570793867111206, -9.148821845883504e-06, -1.082636686078331e-06, 0.016621200367808342, -0.016620155423879623], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.005412820726633072, -3.584815502166748, 0.3748147189617157], "link_right_finger": [-0.00637170672416687, 3.584958076477051, 0.40943947434425354]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5377539396286011, 0.4591521918773651, 0.45915237069129944, -0.5377537608146667]}, "link_3": {"xyz": [0.06137322634458542, 2.4981796741485596e-05, 0.3747379183769226], "quat_xyzw": [0.006646183785051107, 0.7070755958557129, -0.7070755958557129, 0.006645993795245886]}, "link_4": {"xyz": [0.3052021861076355, 2.4922192096710205e-05, 0.43933263421058655], "quat_xyzw": [-0.4952777326107025, 0.5046780705451965, -0.504677951335907, -0.49527785181999207]}, "link_5": {"xyz": [0.34608638286590576, -8.940696716308594e-08, 0.36608830094337463], "quat_xyzw": [0.5046758055686951, 0.5046802759170532, -0.49527549743652344, -0.49528011679649353]}, "link_6": {"xyz": [0.3072569966316223, 2.3221946321427822e-07, 0.3300519585609436], "quat_xyzw": [0.707075297832489, 0.7070758938789368, 0.006650191731750965, 0.006643766537308693]}, "link_left_finger": {"xyz": [0.3475874662399292, -0.020377976819872856, 0.27029940485954285], "quat_xyzw": [0.4952753186225891, 0.5046759843826294, 0.5046800971031189, -0.49528026580810547]}, "link_right_finger": {"xyz": [0.26920127868652344, 0.020380593836307526, 0.26882585883140564], "quat_xyzw": [0.4952753186225891, 0.5046759843826294, 0.5046800971031189, -0.49528026580810547]}}}, {"t": 10.802000000000001, "phase": "hold", "bottle_xyz": [0.2801274359226227, 0.0001601945114089176, 0.20534783601760864], "bottle_quat_xyzw": [-0.0015496108680963516, -0.11864814162254333, -0.008999921381473541, 0.9928943514823914], "bottom_z": 0.15328684607783616, "q": [-4.110839597615268e-07, 1.7281618118286133, 1.7469600439071655, -1.570793867111206, -9.153306564257946e-06, -4.3771285618277034e-07, 0.016603771597146988, -0.016603311523795128], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.0006478242576122284, -3.7169504165649414, 0.3731748163700104], "link_right_finger": [0.007976528257131577, 3.7167561054229736, 0.41330385208129883]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5377539396286011, 0.4591521918773651, 0.45915237069129944, -0.5377537608146667]}, "link_3": {"xyz": [0.06137322634458542, 2.4981796741485596e-05, 0.3747379183769226], "quat_xyzw": [0.006646183785051107, 0.7070755958557129, -0.7070755958557129, 0.006645993795245886]}, "link_4": {"xyz": [0.3052021861076355, 2.4922192096710205e-05, 0.43933263421058655], "quat_xyzw": [-0.4952777326107025, 0.5046780705451965, -0.504677951335907, -0.49527785181999207]}, "link_5": {"xyz": [0.34608638286590576, -8.940696716308594e-08, 0.36608830094337463], "quat_xyzw": [0.5046758055686951, 0.5046802759170532, -0.49527549743652344, -0.49528011679649353]}, "link_6": {"xyz": [0.3072569966316223, 2.325396053493023e-07, 0.3300519585609436], "quat_xyzw": [0.7070754766464233, 0.7070756554603577, 0.006650187540799379, 0.006643766537308693]}, "link_left_finger": {"xyz": [0.3475874662399292, -0.020395422354340553, 0.27029937505722046], "quat_xyzw": [0.49527543783187866, 0.5046758055686951, 0.5046802163124084, -0.49528011679649353]}, "link_right_finger": {"xyz": [0.2692013084888458, 0.020397447049617767, 0.26882585883140564], "quat_xyzw": [0.49527543783187866, 0.5046758055686951, 0.5046802163124084, -0.49528011679649353]}}}, {"t": 10.822000000000001, "phase": "hold", "bottle_xyz": [0.2801249921321869, 0.00016046884411480278, 0.20533378422260284], "bottle_quat_xyzw": [-0.001527358079329133, -0.11908353120088577, -0.008957669138908386, 0.9928426742553711], "bottom_z": 0.15326852136793637, "q": [-2.9961998393446265e-07, 1.7281616926193237, 1.7469600439071655, -1.5707944631576538, -9.929497537086718e-06, 4.296281872484542e-07, 0.016604403033852577, -0.016604509204626083], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.0012181513011455536, -3.6948413848876953, 0.37749117612838745], "link_right_finger": [0.0035540498793125153, 3.694061517715454, 0.41188496351242065]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5377539396286011, 0.4591521918773651, 0.45915237069129944, -0.5377537608146667]}, "link_3": {"xyz": [0.06137322634458542, 2.4981796741485596e-05, 0.3747379183769226], "quat_xyzw": [0.006646183785051107, 0.7070755958557129, -0.7070755958557129, 0.006645993795245886]}, "link_4": {"xyz": [0.3052021861076355, 2.4922192096710205e-05, 0.43933263421058655], "quat_xyzw": [-0.49527791142463684, 0.504677951335907, -0.5046778321266174, -0.4952780306339264]}, "link_5": {"xyz": [0.3460863530635834, -8.195638656616211e-08, 0.36608827114105225], "quat_xyzw": [0.5046754479408264, 0.504680335521698, -0.49527546763420105, -0.49528050422668457]}, "link_6": {"xyz": [0.30725693702697754, 2.6955967769026756e-07, 0.3300519585609436], "quat_xyzw": [0.707075834274292, 0.7070754170417786, 0.006650234572589397, 0.006643214728683233]}, "link_left_finger": {"xyz": [0.34758731722831726, -0.02039475366473198, 0.27029934525489807], "quat_xyzw": [0.49527567625045776, 0.5046752691268921, 0.5046805143356323, -0.49528032541275024]}, "link_right_finger": {"xyz": [0.2692011892795563, 0.020396387204527855, 0.268825888633728], "quat_xyzw": [0.49527567625045776, 0.5046752691268921, 0.5046805143356323, -0.49528032541275024]}}}, {"t": 10.842, "phase": "hold", "bottle_xyz": [0.2801226079463959, 0.00015995564172044396, 0.20531943440437317], "bottle_quat_xyzw": [-0.0015054470859467983, -0.11954531818628311, -0.008915004320442677, 0.9927875995635986], "bottom_z": 0.15324968305801284, "q": [-2.663164195837453e-07, 1.7281616926193237, 1.7469600439071655, -1.5707943439483643, -1.0176428986596875e-05, 3.4350480859757226e-07, 0.01661236770451069, -0.016612928360700607], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.006470099091529846, -3.624614953994751, 0.3801349401473999], "link_right_finger": [0.002789955586194992, 3.624427318572998, 0.4090660810470581]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5377539396286011, 0.4591521918773651, 0.45915237069129944, -0.5377537608146667]}, "link_3": {"xyz": [0.06137322634458542, 2.4981796741485596e-05, 0.3747379183769226], "quat_xyzw": [0.006646183785051107, 0.7070755958557129, -0.7070755958557129, 0.006645993795245886]}, "link_4": {"xyz": [0.3052021861076355, 2.4922192096710205e-05, 0.43933263421058655], "quat_xyzw": [-0.49527788162231445, 0.5046780109405518, -0.5046778917312622, -0.495278000831604]}, "link_5": {"xyz": [0.3460863530635834, -8.940696716308594e-08, 0.36608827114105225], "quat_xyzw": [0.5046754479408264, 0.5046803951263428, -0.4952752888202667, -0.4952804744243622]}, "link_6": {"xyz": [0.30725693702697754, 2.788437996059656e-07, 0.3300519585609436], "quat_xyzw": [0.7070757746696472, 0.7070753574371338, 0.006650411523878574, 0.006643245462328196]}, "link_left_finger": {"xyz": [0.34758737683296204, -0.020386774092912674, 0.27029934525489807], "quat_xyzw": [0.4952755570411682, 0.5046752691268921, 0.5046806335449219, -0.49528032541275024]}, "link_right_finger": {"xyz": [0.26920124888420105, 0.02038799598813057, 0.268825888633728], "quat_xyzw": [0.4952755570411682, 0.5046752691268921, 0.5046806335449219, -0.49528032541275024]}}}, {"t": 10.862, "phase": "hold", "bottle_xyz": [0.2801201641559601, 0.00015976722352206707, 0.20530514419078827], "bottle_quat_xyzw": [-0.0014851443702355027, -0.11998112499713898, -0.008872903883457184, 0.9927355051040649], "bottom_z": 0.15323119810109798, "q": [1.3407056087544333e-07, 1.7281615734100342, 1.746959924697876, -1.5707943439483643, -1.1375526810297742e-05, 8.539885953950943e-08, 0.016612233594059944, -0.016613060608506203], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.002351272851228714, -3.627471923828125, 0.365648090839386], "link_right_finger": [0.005192156881093979, 3.626927375793457, 0.40782126784324646]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377537608146667, 0.45915234088897705, 0.4591522812843323, -0.5377538204193115]}, "link_3": {"xyz": [0.06137319654226303, 2.5006011128425598e-05, 0.3747378885746002], "quat_xyzw": [0.006646055728197098, 0.7070755958557129, -0.7070755958557129, 0.006646195892244577]}, "link_4": {"xyz": [0.3052021563053131, 2.5061890482902527e-05, 0.43933260440826416], "quat_xyzw": [-0.4952779710292816, 0.5046778917312622, -0.5046780109405518, -0.49527785181999207]}, "link_5": {"xyz": [0.346086323261261, 7.264316082000732e-08, 0.36608824133872986], "quat_xyzw": [0.504675030708313, 0.504680871963501, -0.4952751696109772, -0.4952806830406189]}, "link_6": {"xyz": [0.30725690722465515, 4.515459295362234e-07, 0.33005189895629883], "quat_xyzw": [0.7070755362510681, 0.7070756554603577, 0.006650850642472506, 0.006642800755798817]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.020386619493365288, 0.2702992558479309], "quat_xyzw": [0.49527502059936523, 0.5046751499176025, 0.5046807527542114, -0.49528080224990845]}, "link_right_finger": {"xyz": [0.2692011892795563, 0.020388079807162285, 0.26882585883140564], "quat_xyzw": [0.49527502059936523, 0.5046751499176025, 0.5046807527542114, -0.49528080224990845]}}}, {"t": 10.882000000000001, "phase": "hold", "bottle_xyz": [0.2801177203655243, 0.0001597654481884092, 0.20529085397720337], "bottle_quat_xyzw": [-0.0014652276877313852, -0.12041056156158447, -0.008830400183796883, 0.9926838278770447], "bottom_z": 0.15321281335474965, "q": [9.342011253465898e-08, 1.7281615734100342, 1.746959924697876, -1.5707943439483643, -1.1303832252451684e-05, 1.9279856644516258e-07, 0.01660747453570366, -0.016608430072665215], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.006776086986064911, -3.6623892784118652, 0.3764173686504364], "link_right_finger": [0.010292131453752518, 3.662067413330078, 0.40087971091270447]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377537608146667, 0.45915234088897705, 0.4591522812843323, -0.5377538204193115]}, "link_3": {"xyz": [0.06137319654226303, 2.5006011128425598e-05, 0.3747378885746002], "quat_xyzw": [0.006646055728197098, 0.7070755958557129, -0.7070755958557129, 0.006646195892244577]}, "link_4": {"xyz": [0.3052021563053131, 2.5061890482902527e-05, 0.43933260440826416], "quat_xyzw": [-0.4952779710292816, 0.5046778917312622, -0.5046780109405518, -0.49527785181999207]}, "link_5": {"xyz": [0.346086323261261, 7.264316082000732e-08, 0.36608824133872986], "quat_xyzw": [0.504675030708313, 0.5046808123588562, -0.4952751696109772, -0.4952806234359741]}, "link_6": {"xyz": [0.30725690722465515, 4.6330387704074383e-07, 0.3300519287586212], "quat_xyzw": [0.7070755362510681, 0.7070755958557129, 0.006650798488408327, 0.006642861291766167]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.020391374826431274, 0.2702992856502533], "quat_xyzw": [0.4952750504016876, 0.5046751499176025, 0.5046806931495667, -0.4952807128429413]}, "link_right_finger": {"xyz": [0.2692011892795563, 0.020392704755067825, 0.26882585883140564], "quat_xyzw": [0.4952750504016876, 0.5046751499176025, 0.5046806931495667, -0.4952807128429413]}}}, {"t": 10.902000000000001, "phase": "hold", "bottle_xyz": [0.28011536598205566, 0.0001598856324562803, 0.20527665317058563], "bottle_quat_xyzw": [-0.0014457069337368011, -0.12084665894508362, -0.0087873674929142, 0.9926312565803528], "bottom_z": 0.15319449431154955, "q": [1.0184373167021477e-07, 1.7281616926193237, 1.7469598054885864, -1.5707944631576538, -1.1471171092125587e-05, 4.020104142909986e-07, 0.016606194898486137, -0.016607217490673065], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.0013480745255947113, -3.6652884483337402, 0.37910521030426025], "link_right_finger": [0.00010791048407554626, 3.6654748916625977, 0.39951497316360474]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.45915231108665466, 0.4591522514820099, -0.5377538800239563]}, "link_3": {"xyz": [0.06137322634458542, 2.5006011128425598e-05, 0.3747379183769226], "quat_xyzw": [0.006645945832133293, 0.7070755958557129, -0.7070755958557129, 0.0066460659727454185]}, "link_4": {"xyz": [0.3052022159099579, 2.5054439902305603e-05, 0.4393325746059418], "quat_xyzw": [-0.4952780604362488, 0.5046777725219727, -0.5046778917312622, -0.495278000831604]}, "link_5": {"xyz": [0.3460863530635834, 5.774199962615967e-08, 0.36608821153640747], "quat_xyzw": [0.5046749114990234, 0.5046807527542114, -0.49527525901794434, -0.49528080224990845]}, "link_6": {"xyz": [0.30725693702697754, 4.431640263646841e-07, 0.33005189895629883], "quat_xyzw": [0.7070755958557129, 0.7070755362510681, 0.006650703493505716, 0.006642627064138651]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.02039266936480999, 0.2702992558479309], "quat_xyzw": [0.4952751696109772, 0.5046749114990234, 0.5046806931495667, -0.49528083205223083]}, "link_right_finger": {"xyz": [0.2692011892795563, 0.020393921062350273, 0.268825888633728], "quat_xyzw": [0.4952751696109772, 0.5046749114990234, 0.5046806931495667, -0.49528083205223083]}}}, {"t": 10.922, "phase": "hold", "bottle_xyz": [0.2801130414009094, 0.00015989603707566857, 0.2052624672651291], "bottle_quat_xyzw": [-0.0014299731701612473, -0.12128609418869019, -0.008746366947889328, 0.9925780892372131], "bottom_z": 0.15317619908179553, "q": [1.0476734502162799e-07, 1.7281616926193237, 1.7469598054885864, -1.5707944631576538, -1.1671179890981875e-05, 3.981890301929525e-07, 0.01660776697099209, -0.01660875603556633], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.0016411729156970978, -3.648141860961914, 0.38100507855415344], "link_right_finger": [0.003749072551727295, 3.648312568664551, 0.40301772952079773]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.45915231108665466, 0.4591522514820099, -0.5377538800239563]}, "link_3": {"xyz": [0.06137322634458542, 2.5006011128425598e-05, 0.3747379183769226], "quat_xyzw": [0.006645945832133293, 0.7070755958557129, -0.7070755958557129, 0.0066460659727454185]}, "link_4": {"xyz": [0.3052022159099579, 2.5054439902305603e-05, 0.4393325746059418], "quat_xyzw": [-0.4952780604362488, 0.5046777725219727, -0.5046778917312622, -0.495278000831604]}, "link_5": {"xyz": [0.3460863530635834, 5.774199962615967e-08, 0.36608821153640747], "quat_xyzw": [0.5046748518943787, 0.5046808123588562, -0.49527519941329956, -0.4952808618545532]}, "link_6": {"xyz": [0.30725693702697754, 4.525645636022091e-07, 0.33005189895629883], "quat_xyzw": [0.7070755958557129, 0.7070755362510681, 0.006650774739682674, 0.006642554886639118]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.020391076803207397, 0.2702992260456085], "quat_xyzw": [0.4952751100063324, 0.5046748518943787, 0.5046807527542114, -0.4952808916568756]}, "link_right_finger": {"xyz": [0.2692011892795563, 0.020392397418618202, 0.268825888633728], "quat_xyzw": [0.4952751100063324, 0.5046748518943787, 0.5046807527542114, -0.4952808916568756]}}}, {"t": 10.942, "phase": "hold", "bottle_xyz": [0.28011056780815125, 0.00015982733748387545, 0.20524820685386658], "bottle_quat_xyzw": [-0.0014104674337431788, -0.12171709537506104, -0.008705532178282738, 0.9925256967544556], "bottom_z": 0.15315794764937807, "q": [1.006397809533155e-07, 1.7281616926193237, 1.7469598054885864, -1.5707944631576538, -1.1670993444568012e-05, 3.2114351711243216e-07, 0.016608010977506638, -0.016608934849500656], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.005187530070543289, -3.645075798034668, 0.3758683502674103], "link_right_finger": [0.002338562160730362, 3.6449363231658936, 0.39326468110084534]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.45915231108665466, 0.4591522514820099, -0.5377538800239563]}, "link_3": {"xyz": [0.06137322634458542, 2.5006011128425598e-05, 0.3747379183769226], "quat_xyzw": [0.006645945832133293, 0.7070755958557129, -0.7070755958557129, 0.0066460659727454185]}, "link_4": {"xyz": [0.3052022159099579, 2.5054439902305603e-05, 0.4393325746059418], "quat_xyzw": [-0.4952780604362488, 0.5046777725219727, -0.5046778917312622, -0.495278000831604]}, "link_5": {"xyz": [0.3460863530635834, 5.774199962615967e-08, 0.36608821153640747], "quat_xyzw": [0.5046748518943787, 0.5046808123588562, -0.49527519941329956, -0.4952808618545532]}, "link_6": {"xyz": [0.30725693702697754, 4.5310298446565866e-07, 0.33005189895629883], "quat_xyzw": [0.7070755958557129, 0.7070755362510681, 0.006650760769844055, 0.006642554886639118]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.020390845835208893, 0.2702992260456085], "quat_xyzw": [0.4952751696109772, 0.5046749114990234, 0.5046807527542114, -0.4952809512615204]}, "link_right_finger": {"xyz": [0.2692011594772339, 0.020392226055264473, 0.268825888633728], "quat_xyzw": [0.4952751696109772, 0.5046749114990234, 0.5046807527542114, -0.4952809512615204]}}}, {"t": 10.962000000000002, "phase": "hold", "bottle_xyz": [0.280108243227005, 0.0001598901581019163, 0.20523400604724884], "bottle_quat_xyzw": [-0.001390696270391345, -0.12214389443397522, -0.008664597757160664, 0.9924736618995667], "bottom_z": 0.15313983330363257, "q": [1.1521826337457242e-07, 1.7281615734100342, 1.746959924697876, -1.5707944631576538, -1.1663284567475785e-05, 2.910919079113228e-07, 0.01660674810409546, -0.01660759001970291], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.015010129660367966, -3.6521782875061035, 0.38507336378097534], "link_right_finger": [0.0023540519177913666, 3.65225887298584, 0.4001063108444214]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377537608146667, 0.45915234088897705, 0.4591522812843323, -0.5377538204193115]}, "link_3": {"xyz": [0.06137319654226303, 2.5006011128425598e-05, 0.3747378885746002], "quat_xyzw": [0.006646055728197098, 0.7070755958557129, -0.7070755958557129, 0.006646195892244577]}, "link_4": {"xyz": [0.3052021563053131, 2.5061890482902527e-05, 0.43933260440826416], "quat_xyzw": [-0.495278000831604, 0.5046778321266174, -0.504677951335907, -0.49527791142463684]}, "link_5": {"xyz": [0.346086323261261, 6.51925802230835e-08, 0.36608824133872986], "quat_xyzw": [0.5046749114990234, 0.504680871963501, -0.4952751100063324, -0.49528080224990845]}, "link_6": {"xyz": [0.30725693702697754, 4.6592322178184986e-07, 0.3300519287586212], "quat_xyzw": [0.7070755958557129, 0.7070755362510681, 0.006650887429714203, 0.006642627064138651]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.020392073318362236, 0.2702992558479309], "quat_xyzw": [0.49527502059936523, 0.5046749114990234, 0.5046808123588562, -0.49528083205223083]}, "link_right_finger": {"xyz": [0.26920121908187866, 0.020393583923578262, 0.268825888633728], "quat_xyzw": [0.49527502059936523, 0.5046749114990234, 0.5046808123588562, -0.49528083205223083]}}}, {"t": 10.982000000000001, "phase": "hold", "bottle_xyz": [0.2801060378551483, 0.0001598761446075514, 0.205219566822052], "bottle_quat_xyzw": [-0.0013810539385303855, -0.12256241589784622, -0.008624293841421604, 0.9924224019050598], "bottom_z": 0.15312159348321774, "q": [1.2732215282085235e-07, 1.7281616926193237, 1.7469598054885864, -1.5707943439483643, -1.1809814168373123e-05, 3.957900389650604e-07, 0.016605962067842484, -0.01660669781267643], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [-0.0057379379868507385, -3.6554083824157715, 0.3829013705253601], "link_right_finger": [-0.012717463076114655, 3.655670166015625, 0.39933139085769653]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.45915231108665466, 0.4591522514820099, -0.5377538800239563]}, "link_3": {"xyz": [0.06137322634458542, 2.5006011128425598e-05, 0.3747379183769226], "quat_xyzw": [0.006645945832133293, 0.7070755958557129, -0.7070755958557129, 0.0066460659727454185]}, "link_4": {"xyz": [0.3052022159099579, 2.5054439902305603e-05, 0.4393325746059418], "quat_xyzw": [-0.4952780306339264, 0.5046778321266174, -0.5046778917312622, -0.49527794122695923]}, "link_5": {"xyz": [0.3460863530635834, 6.51925802230835e-08, 0.36608821153640747], "quat_xyzw": [0.5046748518943787, 0.5046809315681458, -0.49527508020401, -0.495280921459198]}, "link_6": {"xyz": [0.30725693702697754, 4.7461071517318487e-07, 0.33005189895629883], "quat_xyzw": [0.7070755958557129, 0.7070755362510681, 0.006650947965681553, 0.0066425250843167305]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.02039284072816372, 0.2702992558479309], "quat_xyzw": [0.49527499079704285, 0.5046748518943787, 0.504680871963501, -0.4952808916568756]}, "link_right_finger": {"xyz": [0.2692011892795563, 0.020394502207636833, 0.268825888633728], "quat_xyzw": [0.49527499079704285, 0.5046748518943787, 0.504680871963501, -0.4952808916568756]}}}, {"t": 11.002, "phase": "hold", "bottle_xyz": [0.28010374307632446, 0.00015992089174687862, 0.20520472526550293], "bottle_quat_xyzw": [-0.0013817008584737778, -0.12297678738832474, -0.008581661619246006, 0.9923715591430664], "bottom_z": 0.15310302529092495, "q": [1.2395059911796125e-07, 1.7281616926193237, 1.7469598054885864, -1.5707943439483643, -1.1731824997696094e-05, 3.530348635649716e-07, 0.01660611294209957, -0.016606716439127922], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0, 0.0], "finger_forces": {"link_left_finger": [0.0020720362663269043, -3.651562213897705, 0.38451331853866577], "link_right_finger": [-0.009232278913259506, 3.652057409286499, 0.39203256368637085]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.45915231108665466, 0.4591522514820099, -0.5377538800239563]}, "link_3": {"xyz": [0.06137322634458542, 2.5006011128425598e-05, 0.3747379183769226], "quat_xyzw": [0.006645945832133293, 0.7070755958557129, -0.7070755958557129, 0.0066460659727454185]}, "link_4": {"xyz": [0.3052022159099579, 2.5054439902305603e-05, 0.4393325746059418], "quat_xyzw": [-0.4952780306339264, 0.5046778321266174, -0.5046778917312622, -0.49527794122695923]}, "link_5": {"xyz": [0.3460863530635834, 6.51925802230835e-08, 0.36608821153640747], "quat_xyzw": [0.5046748518943787, 0.5046808123588562, -0.4952751100063324, -0.4952808618545532]}, "link_6": {"xyz": [0.30725693702697754, 4.729809006676078e-07, 0.33005189895629883], "quat_xyzw": [0.7070756554603577, 0.7070755362510681, 0.006650826893746853, 0.006642555817961693]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.020392706617712975, 0.2702992260456085], "quat_xyzw": [0.4952751100063324, 0.5046748518943787, 0.5046808123588562, -0.4952808916568756]}, "link_right_finger": {"xyz": [0.2692011892795563, 0.020394468680024147, 0.26882585883140564], "quat_xyzw": [0.4952751100063324, 0.5046748518943787, 0.5046808123588562, -0.4952808916568756]}}}, {"t": 11.022, "phase": "release", "bottle_xyz": [0.280101478099823, 0.0001599715615157038, 0.2051897943019867], "bottle_quat_xyzw": [-0.001385440118610859, -0.12340546399354935, -0.008543021976947784, 0.9923186302185059], "bottom_z": 0.15308427687721, "q": [9.388674726551471e-08, 1.7281616926193237, 1.7469598054885864, -1.5707943439483643, -1.1653443834802601e-05, 4.22293737756263e-07, 0.016607141122221947, -0.01660759747028351], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 1.1175000508956145e-05, -1.1175000508956145e-05], "finger_forces": {"link_left_finger": [0.004877664148807526, -3.6400375366210938, 0.3804083466529846], "link_right_finger": [-0.0052961744368076324, 3.6397931575775146, 0.39659571647644043]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.45915231108665466, 0.4591522514820099, -0.5377538800239563]}, "link_3": {"xyz": [0.06137322634458542, 2.5006011128425598e-05, 0.3747379183769226], "quat_xyzw": [0.006645945832133293, 0.7070755958557129, -0.7070755958557129, 0.0066460659727454185]}, "link_4": {"xyz": [0.3052022159099579, 2.5054439902305603e-05, 0.4393325746059418], "quat_xyzw": [-0.4952780306339264, 0.5046778321266174, -0.5046778917312622, -0.49527794122695923]}, "link_5": {"xyz": [0.3460863530635834, 6.51925802230835e-08, 0.36608821153640747], "quat_xyzw": [0.5046748518943787, 0.5046808123588562, -0.4952751100063324, -0.4952808618545532]}, "link_6": {"xyz": [0.30725693702697754, 4.7136563807725906e-07, 0.33005189895629883], "quat_xyzw": [0.7070756554603577, 0.7070755362510681, 0.00665083946660161, 0.006642526015639305]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.0203916747123003, 0.2702992260456085], "quat_xyzw": [0.4952751100063324, 0.5046748518943787, 0.5046808123588562, -0.4952808916568756]}, "link_right_finger": {"xyz": [0.2692011892795563, 0.02039359323680401, 0.26882585883140564], "quat_xyzw": [0.4952751100063324, 0.5046748518943787, 0.5046808123588562, -0.4952808916568756]}}}, {"t": 11.042000000000002, "phase": "release", "bottle_xyz": [0.2800990343093872, 0.0001598686503712088, 0.2051747739315033], "bottle_quat_xyzw": [-0.0013892127899453044, -0.12383425980806351, -0.008507133461534977, 0.992265522480011], "bottom_z": 0.153065476731585, "q": [1.568994711931282e-08, 1.7281618118286133, 1.7469594478607178, -1.570794701576233, -1.1421394447097555e-05, 6.200752409313282e-07, 0.01661050133407116, -0.016610821709036827], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 4.440000338945538e-05, -4.440000338945538e-05], "finger_forces": {"link_left_finger": [0.016385111957788467, -3.608522653579712, 0.3927600383758545], "link_right_finger": [0.007002469152212143, 3.608283042907715, 0.39829134941101074]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.4591522812843323, 0.4591522812843323, -0.5377538204193115]}, "link_3": {"xyz": [0.06137322634458542, 2.5002285838127136e-05, 0.3747378885746002], "quat_xyzw": [0.006645883899182081, 0.7070755958557129, -0.7070755958557129, 0.006645942106842995]}, "link_4": {"xyz": [0.3052022159099579, 2.502836287021637e-05, 0.4393324851989746], "quat_xyzw": [-0.49527814984321594, 0.5046776533126831, -0.5046777129173279, -0.49527812004089355]}, "link_5": {"xyz": [0.346086323261261, 3.166496753692627e-08, 0.3660880923271179], "quat_xyzw": [0.5046747922897339, 0.5046805739402771, -0.4952753186225891, -0.4952809512615204]}, "link_6": {"xyz": [0.30725687742233276, 4.3971522245556116e-07, 0.33005180954933167], "quat_xyzw": [0.7070757746696472, 0.7070754170417786, 0.006650527473539114, 0.00664245430380106]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.02038838528096676, 0.27029913663864136], "quat_xyzw": [0.4952754080295563, 0.5046747326850891, 0.5046806931495667, -0.4952808618545532]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020390329882502556, 0.26882579922676086], "quat_xyzw": [0.4952754080295563, 0.5046747326850891, 0.5046806931495667, -0.4952808618545532]}}}, {"t": 11.062000000000001, "phase": "release", "bottle_xyz": [0.28009670972824097, 0.00015960320888552815, 0.2051595151424408], "bottle_quat_xyzw": [-0.0013971824664622545, -0.12426451593637466, -0.008467376232147217, 0.9922119975090027], "bottom_z": 0.153046464158247, "q": [9.92636994823215e-09, 1.7281618118286133, 1.7469594478607178, -1.570794701576233, -1.1550395356607623e-05, 6.32663272881473e-07, 0.01661488227546215, -0.016615107655525208], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 9.922500612447038e-05, -9.922500612447038e-05], "finger_forces": {"link_left_finger": [0.009811267256736755, -3.572643756866455, 0.38064947724342346], "link_right_finger": [0.006758522242307663, 3.571135997772217, 0.37517261505126953]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.4591522812843323, 0.4591522812843323, -0.5377538204193115]}, "link_3": {"xyz": [0.06137322634458542, 2.5002285838127136e-05, 0.3747378885746002], "quat_xyzw": [0.006645883899182081, 0.7070755958557129, -0.7070755958557129, 0.006645942106842995]}, "link_4": {"xyz": [0.3052022159099579, 2.502836287021637e-05, 0.4393324851989746], "quat_xyzw": [-0.49527814984321594, 0.5046776533126831, -0.5046777129173279, -0.49527812004089355]}, "link_5": {"xyz": [0.346086323261261, 3.166496753692627e-08, 0.3660880923271179], "quat_xyzw": [0.5046748518943787, 0.5046806335449219, -0.4952753186225891, -0.4952809810638428]}, "link_6": {"xyz": [0.30725687742233276, 4.235771484673023e-07, 0.3300517797470093], "quat_xyzw": [0.7070757746696472, 0.7070754170417786, 0.006650570780038834, 0.006642465479671955]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020384013652801514, 0.27029910683631897], "quat_xyzw": [0.4952753782272339, 0.5046747326850891, 0.5046806931495667, -0.4952808618545532]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02038603276014328, 0.2688257694244385], "quat_xyzw": [0.4952753782272339, 0.5046747326850891, 0.5046806931495667, -0.4952808618545532]}}}, {"t": 11.082, "phase": "release", "bottle_xyz": [0.2800945043563843, 0.00015934387920424342, 0.20514385402202606], "bottle_quat_xyzw": [-0.0014154812088236213, -0.12467741221189499, -0.008429315872490406, 0.9921605587005615], "bottom_z": 0.15302723750995947, "q": [2.581129443512964e-08, 1.7281618118286133, 1.7469594478607178, -1.570794701576233, -1.1415905646572355e-05, 4.3789626147372473e-07, 0.016619162634015083, -0.016619307920336723], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.00017520000983495265, -0.00017520000983495265], "finger_forces": {"link_left_finger": [-0.0004420354962348938, -3.534445285797119, 0.3868519961833954], "link_right_finger": [-0.015565257519483566, 3.534548044204712, 0.3988640308380127]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.4591522812843323, 0.4591522812843323, -0.5377538204193115]}, "link_3": {"xyz": [0.06137322634458542, 2.5002285838127136e-05, 0.3747378885746002], "quat_xyzw": [0.006645883899182081, 0.7070755958557129, -0.7070755958557129, 0.006645942106842995]}, "link_4": {"xyz": [0.3052022159099579, 2.502836287021637e-05, 0.4393324851989746], "quat_xyzw": [-0.49527814984321594, 0.5046776533126831, -0.5046777129173279, -0.49527812004089355]}, "link_5": {"xyz": [0.346086323261261, 3.166496753692627e-08, 0.3660880923271179], "quat_xyzw": [0.5046747922897339, 0.5046805739402771, -0.4952753186225891, -0.4952809512615204]}, "link_6": {"xyz": [0.30725687742233276, 4.3975887820124626e-07, 0.33005180954933167], "quat_xyzw": [0.7070757150650024, 0.7070754766464233, 0.00665052467957139, 0.00664245430380106]}, "link_left_finger": {"xyz": [0.3475872576236725, -0.020379720255732536, 0.27029913663864136], "quat_xyzw": [0.4952753782272339, 0.5046747922897339, 0.5046806335449219, -0.495280921459198]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020381836220622063, 0.26882579922676086], "quat_xyzw": [0.4952753782272339, 0.5046747922897339, 0.5046806335449219, -0.495280921459198]}}}, {"t": 11.102, "phase": "release", "bottle_xyz": [0.28009217977523804, 0.00015923127648420632, 0.205128014087677], "bottle_quat_xyzw": [-0.001432578545063734, -0.1250971406698227, -0.008392326533794403, 0.9921079874038696], "bottom_z": 0.153007809854963, "q": [-3.7987899048630425e-08, 1.7281618118286133, 1.7469594478607178, -1.570794701576233, -1.1190195436938666e-05, 4.3606519284367096e-07, 0.016623489558696747, -0.016623569652438164], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.00027187500381842256, -0.00027187500381842256], "finger_forces": {"link_left_finger": [0.005651194602251053, -3.4970054626464844, 0.3870929181575775], "link_right_finger": [-0.010489627718925476, 3.4971699714660645, 0.40088003873825073]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.4591522812843323, 0.4591522812843323, -0.5377538204193115]}, "link_3": {"xyz": [0.06137322634458542, 2.5002285838127136e-05, 0.3747378885746002], "quat_xyzw": [0.006645883899182081, 0.7070755958557129, -0.7070755958557129, 0.006645942106842995]}, "link_4": {"xyz": [0.3052022159099579, 2.502836287021637e-05, 0.4393324851989746], "quat_xyzw": [-0.49527814984321594, 0.5046776533126831, -0.5046777129173279, -0.49527812004089355]}, "link_5": {"xyz": [0.346086323261261, 3.166496753692627e-08, 0.3660880923271179], "quat_xyzw": [0.5046748518943787, 0.5046805739402771, -0.4952754080295563, -0.495280921459198]}, "link_6": {"xyz": [0.30725687742233276, 4.223984433338046e-07, 0.33005180954933167], "quat_xyzw": [0.7070756554603577, 0.7070754766464233, 0.006650463677942753, 0.0066425250843167305]}, "link_left_finger": {"xyz": [0.3475872576236725, -0.020375415682792664, 0.27029913663864136], "quat_xyzw": [0.4952753782272339, 0.5046747922897339, 0.5046805739402771, -0.4952808618545532]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020377537235617638, 0.26882582902908325], "quat_xyzw": [0.4952753782272339, 0.5046747922897339, 0.5046805739402771, -0.4952808618545532]}}}, {"t": 11.122000000000002, "phase": "release", "bottle_xyz": [0.2800899147987366, 0.00015910741058178246, 0.20511195063591003], "bottle_quat_xyzw": [-0.0014476332580670714, -0.1255231499671936, -0.008352840319275856, 0.9920545220375061], "bottom_z": 0.15298814312611744, "q": [-2.996026182700007e-08, 1.7281618118286133, 1.7469594478607178, -1.570794701576233, -1.1208599062229041e-05, 4.388113836739649e-07, 0.016628483310341835, -0.016628554090857506], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.00038880002102814615, -0.00038880002102814615], "finger_forces": {"link_left_finger": [0.014981769025325775, -3.4537339210510254, 0.3852633833885193], "link_right_finger": [-0.0024737678468227386, 3.4536075592041016, 0.39715349674224854]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.4591522812843323, 0.4591522812843323, -0.5377538204193115]}, "link_3": {"xyz": [0.06137322634458542, 2.5002285838127136e-05, 0.3747378885746002], "quat_xyzw": [0.006645883899182081, 0.7070755958557129, -0.7070755958557129, 0.006645942106842995]}, "link_4": {"xyz": [0.3052022159099579, 2.502836287021637e-05, 0.4393324851989746], "quat_xyzw": [-0.49527814984321594, 0.5046776533126831, -0.5046777129173279, -0.49527812004089355]}, "link_5": {"xyz": [0.346086323261261, 3.166496753692627e-08, 0.3660880923271179], "quat_xyzw": [0.5046748518943787, 0.5046805739402771, -0.4952754080295563, -0.495280921459198]}, "link_6": {"xyz": [0.30725687742233276, 4.2238389141857624e-07, 0.33005180954933167], "quat_xyzw": [0.7070756554603577, 0.7070754766464233, 0.00665046414360404, 0.0066425250843167305]}, "link_left_finger": {"xyz": [0.3475872576236725, -0.020370421931147575, 0.27029913663864136], "quat_xyzw": [0.4952753782272339, 0.5046747922897339, 0.5046805739402771, -0.4952808618545532]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020372550934553146, 0.26882582902908325], "quat_xyzw": [0.4952753782272339, 0.5046747922897339, 0.5046805739402771, -0.4952808618545532]}}}, {"t": 11.142000000000001, "phase": "release", "bottle_xyz": [0.2800876200199127, 0.00015890663780737668, 0.20509575307369232], "bottle_quat_xyzw": [-0.0014618101995438337, -0.12594926357269287, -0.008311459794640541, 0.9920007586479187], "bottom_z": 0.15296837964770535, "q": [-2.2783110509294602e-08, 1.7281618118286133, 1.7469594478607178, -1.570794701576233, -1.1235165402467828e-05, 4.460102900338825e-07, 0.016634248197078705, -0.01663433574140072], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0005255250143818557, -0.0005255250143818557], "finger_forces": {"link_left_finger": [0.007205631583929062, -3.405102491378784, 0.390548974275589], "link_right_finger": [-0.0034519731998443604, 3.405207395553589, 0.3993380665779114]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.4591522812843323, 0.4591522812843323, -0.5377538204193115]}, "link_3": {"xyz": [0.06137322634458542, 2.5002285838127136e-05, 0.3747378885746002], "quat_xyzw": [0.006645883899182081, 0.7070755958557129, -0.7070755958557129, 0.006645942106842995]}, "link_4": {"xyz": [0.3052022159099579, 2.502836287021637e-05, 0.4393324851989746], "quat_xyzw": [-0.49527814984321594, 0.5046776533126831, -0.5046777129173279, -0.49527812004089355]}, "link_5": {"xyz": [0.346086323261261, 3.166496753692627e-08, 0.3660880923271179], "quat_xyzw": [0.5046748518943787, 0.5046805739402771, -0.4952754080295563, -0.495280921459198]}, "link_6": {"xyz": [0.30725687742233276, 4.2232568375766277e-07, 0.33005180954933167], "quat_xyzw": [0.7070756554603577, 0.7070754766464233, 0.006650465540587902, 0.0066425250843167305]}, "link_left_finger": {"xyz": [0.3475872576236725, -0.020364655181765556, 0.27029913663864136], "quat_xyzw": [0.4952753782272339, 0.5046747922897339, 0.5046805739402771, -0.4952808618545532]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020366771146655083, 0.26882582902908325], "quat_xyzw": [0.4952753782272339, 0.5046747922897339, 0.5046805739402771, -0.4952808618545532]}}}, {"t": 11.162, "phase": "release", "bottle_xyz": [0.2800850570201874, 0.00015873365919105709, 0.2050793319940567], "bottle_quat_xyzw": [-0.0014759866753593087, -0.1264011561870575, -0.008280498906970024, 0.9919435977935791], "bottom_z": 0.15294821880058473, "q": [-1.4567271833243467e-08, 1.7281618118286133, 1.7469594478607178, -1.570794701576233, -1.1293851457594428e-05, 4.6117003194012796e-07, 0.016640586778521538, -0.016640713438391685], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0006816000095568597, -0.0006816000095568597], "finger_forces": {"link_left_finger": [0.0019090734422206879, -3.3526039123535156, 0.38238203525543213], "link_right_finger": [-0.011415444314479828, 3.3529343605041504, 0.397884726524353]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.4591522812843323, 0.4591522812843323, -0.5377538204193115]}, "link_3": {"xyz": [0.06137322634458542, 2.5002285838127136e-05, 0.3747378885746002], "quat_xyzw": [0.006645883899182081, 0.7070755958557129, -0.7070755958557129, 0.006645942106842995]}, "link_4": {"xyz": [0.3052022159099579, 2.502836287021637e-05, 0.4393324851989746], "quat_xyzw": [-0.49527814984321594, 0.5046776533126831, -0.5046777129173279, -0.49527812004089355]}, "link_5": {"xyz": [0.346086323261261, 3.166496753692627e-08, 0.3660880923271179], "quat_xyzw": [0.5046748518943787, 0.5046805739402771, -0.4952753782272339, -0.495280921459198]}, "link_6": {"xyz": [0.30725687742233276, 4.2220926843583584e-07, 0.33005180954933167], "quat_xyzw": [0.7070756554603577, 0.7070754766464233, 0.006650468334555626, 0.0066425250843167305]}, "link_left_finger": {"xyz": [0.3475872576236725, -0.020358318462967873, 0.27029913663864136], "quat_xyzw": [0.4952753782272339, 0.5046747922897339, 0.5046805739402771, -0.4952808618545532]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020360393449664116, 0.26882582902908325], "quat_xyzw": [0.4952753782272339, 0.5046747922897339, 0.5046805739402771, -0.4952808618545532]}}}, {"t": 11.182, "phase": "release", "bottle_xyz": [0.28008243441581726, 0.0001584078709129244, 0.20506268739700317], "bottle_quat_xyzw": [-0.0014897985383868217, -0.1268485188484192, -0.008249843493103981, 0.9918867349624634], "bottom_z": 0.15292791432806402, "q": [-1.6697102367402294e-08, 1.7281618118286133, 1.7469594478607178, -1.570794701576233, -1.1253730917815119e-05, 4.516648175467708e-07, 0.01664729416370392, -0.016647476702928543], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0008565750322304666, -0.0008565750322304666], "finger_forces": {"link_left_finger": [0.00940210372209549, -3.2976553440093994, 0.38812464475631714], "link_right_finger": [-0.008712653070688248, 3.2974436283111572, 0.40024328231811523]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.4591522812843323, 0.4591522812843323, -0.5377538204193115]}, "link_3": {"xyz": [0.06137322634458542, 2.5002285838127136e-05, 0.3747378885746002], "quat_xyzw": [0.006645883899182081, 0.7070755958557129, -0.7070755958557129, 0.006645942106842995]}, "link_4": {"xyz": [0.3052022159099579, 2.502836287021637e-05, 0.4393324851989746], "quat_xyzw": [-0.49527814984321594, 0.5046776533126831, -0.5046777129173279, -0.49527812004089355]}, "link_5": {"xyz": [0.346086323261261, 3.166496753692627e-08, 0.3660880923271179], "quat_xyzw": [0.5046748518943787, 0.5046805739402771, -0.4952754080295563, -0.495280921459198]}, "link_6": {"xyz": [0.30725687742233276, 4.2228202801197767e-07, 0.33005180954933167], "quat_xyzw": [0.7070756554603577, 0.7070754766464233, 0.006650466471910477, 0.0066425250843167305]}, "link_left_finger": {"xyz": [0.3475872576236725, -0.020351611077785492, 0.27029913663864136], "quat_xyzw": [0.4952753782272339, 0.5046747922897339, 0.5046805739402771, -0.4952808618545532]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02035363018512726, 0.26882582902908325], "quat_xyzw": [0.4952753782272339, 0.5046747922897339, 0.5046805739402771, -0.4952808618545532]}}}, {"t": 11.202000000000002, "phase": "release", "bottle_xyz": [0.28007981181144714, 0.00015808880561962724, 0.20504577457904816], "bottle_quat_xyzw": [-0.0015027251793071628, -0.1272897571325302, -0.008221338503062725, 0.9918304085731506], "bottom_z": 0.15290743307614996, "q": [-1.5751529858221147e-08, 1.7281618118286133, 1.7469594478607178, -1.570794701576233, -1.1240513231314253e-05, 4.429139721651154e-07, 0.016654444858431816, -0.01665467955172062], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0010500000789761543, -0.0010500000789761543], "finger_forces": {"link_left_finger": [0.012180108577013016, -3.2397804260253906, 0.38680994510650635], "link_right_finger": [-0.003608960658311844, 3.2399463653564453, 0.4022832214832306]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.4591522812843323, 0.4591522812843323, -0.5377538204193115]}, "link_3": {"xyz": [0.06137322634458542, 2.5002285838127136e-05, 0.3747378885746002], "quat_xyzw": [0.006645883899182081, 0.7070755958557129, -0.7070755958557129, 0.006645942106842995]}, "link_4": {"xyz": [0.3052022159099579, 2.502836287021637e-05, 0.4393324851989746], "quat_xyzw": [-0.49527814984321594, 0.5046776533126831, -0.5046777129173279, -0.49527812004089355]}, "link_5": {"xyz": [0.346086323261261, 3.166496753692627e-08, 0.3660880923271179], "quat_xyzw": [0.5046748518943787, 0.5046805739402771, -0.4952754080295563, -0.495280921459198]}, "link_6": {"xyz": [0.30725687742233276, 4.2234023567289114e-07, 0.33005180954933167], "quat_xyzw": [0.7070756554603577, 0.7070754766464233, 0.006650465074926615, 0.0066425250843167305]}, "link_left_finger": {"xyz": [0.3475872576236725, -0.020344458520412445, 0.27029913663864136], "quat_xyzw": [0.4952753782272339, 0.5046747922897339, 0.5046805739402771, -0.4952808618545532]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020346427336335182, 0.26882582902908325], "quat_xyzw": [0.4952753782272339, 0.5046747922897339, 0.5046805739402771, -0.4952808618545532]}}}, {"t": 11.222000000000001, "phase": "release", "bottle_xyz": [0.2800760567188263, 0.00015848246403038502, 0.20502839982509613], "bottle_quat_xyzw": [-0.0015152677660807967, -0.12780992686748505, -0.008160178549587727, 0.9917639493942261], "bottom_z": 0.15288590469199023, "q": [-7.883603103664427e-08, 1.7281618118286133, 1.7469594478607178, -1.570794701576233, -1.0756788469734602e-05, 2.856327796507685e-07, 0.016662653535604477, -0.016662945970892906], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.00126142508815974, -0.00126142508815974], "finger_forces": {"link_left_finger": [0.007154528051614761, -3.1874890327453613, 0.3868768811225891], "link_right_finger": [-0.01141611859202385, 3.1860640048980713, 0.39681893587112427]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.4591522812843323, 0.4591522812843323, -0.5377538204193115]}, "link_3": {"xyz": [0.06137322634458542, 2.5002285838127136e-05, 0.3747378885746002], "quat_xyzw": [0.006645883899182081, 0.7070755958557129, -0.7070755958557129, 0.006645942106842995]}, "link_4": {"xyz": [0.3052022159099579, 2.502836287021637e-05, 0.4393324851989746], "quat_xyzw": [-0.49527814984321594, 0.5046776533126831, -0.5046777129173279, -0.49527812004089355]}, "link_5": {"xyz": [0.346086323261261, 3.166496753692627e-08, 0.3660880923271179], "quat_xyzw": [0.5046749711036682, 0.5046804547309875, -0.4952755272388458, -0.49528080224990845]}, "link_6": {"xyz": [0.30725687742233276, 4.046160029247403e-07, 0.3300517797470093], "quat_xyzw": [0.7070756554603577, 0.7070755362510681, 0.006650292780250311, 0.006642668973654509]}, "link_left_finger": {"xyz": [0.3475872576236725, -0.020336296409368515, 0.27029913663864136], "quat_xyzw": [0.49527549743652344, 0.5046749711036682, 0.5046804547309875, -0.49528080224990845]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02033812738955021, 0.2688257694244385], "quat_xyzw": [0.49527549743652344, 0.5046749711036682, 0.5046804547309875, -0.49528080224990845]}}}, {"t": 11.242, "phase": "release", "bottle_xyz": [0.2800723910331726, 0.00015845794405322522, 0.20501022040843964], "bottle_quat_xyzw": [-0.0015340340323746204, -0.12833887338638306, -0.008097102865576744, 0.9916961193084717], "bottom_z": 0.15286356045154612, "q": [-8.409815066556803e-09, 1.7281618118286133, 1.7469594478607178, -1.570794701576233, -1.1342090147081763e-05, 5.694990932170185e-07, 0.016672542318701744, -0.016672879457473755], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0014904000563547015, -0.0014904000563547015], "finger_forces": {"link_left_finger": [0.010416798293590546, -3.109518051147461, 0.38625848293304443], "link_right_finger": [-0.0069790370762348175, 3.109123945236206, 0.3976796269416809]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.4591522812843323, 0.4591522812843323, -0.5377538204193115]}, "link_3": {"xyz": [0.06137322634458542, 2.5002285838127136e-05, 0.3747378885746002], "quat_xyzw": [0.006645883899182081, 0.7070755958557129, -0.7070755958557129, 0.006645942106842995]}, "link_4": {"xyz": [0.3052022159099579, 2.502836287021637e-05, 0.4393324851989746], "quat_xyzw": [-0.49527814984321594, 0.5046776533126831, -0.5046777129173279, -0.49527812004089355]}, "link_5": {"xyz": [0.346086323261261, 3.166496753692627e-08, 0.3660880923271179], "quat_xyzw": [0.5046748518943787, 0.5046805739402771, -0.4952753484249115, -0.4952809512615204]}, "link_6": {"xyz": [0.30725687742233276, 4.2791361920535564e-07, 0.33005180954933167], "quat_xyzw": [0.7070757746696472, 0.7070754170417786, 0.00665048835799098, 0.006642496213316917]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.02032635733485222, 0.27029913663864136], "quat_xyzw": [0.49527543783187866, 0.5046747326850891, 0.5046806335449219, -0.49528083205223083]}, "link_right_finger": {"xyz": [0.2692011296749115, 0.02032824419438839, 0.26882582902908325], "quat_xyzw": [0.49527543783187866, 0.5046747326850891, 0.5046806335449219, -0.49528083205223083]}}}, {"t": 11.262, "phase": "release", "bottle_xyz": [0.2800687551498413, 0.00015795497165527195, 0.20499137043952942], "bottle_quat_xyzw": [-0.0015483167953789234, -0.12885230779647827, -0.00803583487868309, 0.9916300773620605], "bottom_z": 0.15284072433602783, "q": [-4.505172235269583e-09, 1.7281618118286133, 1.7469594478607178, -1.570794701576233, -1.13495989353396e-05, 5.111189693707274e-07, 0.016681840643286705, -0.016682233661413193], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0017364750383421779, -0.0017364750383421779], "finger_forces": {"link_left_finger": [0.021304070949554443, -3.0390071868896484, 0.390370637178421], "link_right_finger": [-0.009568847715854645, 3.0391347408294678, 0.4016692340373993]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.4591522812843323, 0.4591522812843323, -0.5377538204193115]}, "link_3": {"xyz": [0.06137322634458542, 2.5002285838127136e-05, 0.3747378885746002], "quat_xyzw": [0.006645883899182081, 0.7070755958557129, -0.7070755958557129, 0.006645942106842995]}, "link_4": {"xyz": [0.3052022159099579, 2.502836287021637e-05, 0.4393324851989746], "quat_xyzw": [-0.49527814984321594, 0.5046776533126831, -0.5046777129173279, -0.49527812004089355]}, "link_5": {"xyz": [0.346086323261261, 3.166496753692627e-08, 0.3660880923271179], "quat_xyzw": [0.5046748518943787, 0.5046805739402771, -0.4952753484249115, -0.4952809512615204]}, "link_6": {"xyz": [0.30725687742233276, 4.2715691961348057e-07, 0.33005180954933167], "quat_xyzw": [0.7070757746696472, 0.7070754170417786, 0.006650507915765047, 0.006642496213316917]}, "link_left_finger": {"xyz": [0.3475872278213501, -0.020317066460847855, 0.27029913663864136], "quat_xyzw": [0.49527543783187866, 0.5046747326850891, 0.5046806931495667, -0.49528083205223083]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.02031889744102955, 0.2688257694244385], "quat_xyzw": [0.49527543783187866, 0.5046747326850891, 0.5046806931495667, -0.49528083205223083]}}}, {"t": 11.282, "phase": "release", "bottle_xyz": [0.2800650894641876, 0.0001460091007174924, 0.20497249066829681], "bottle_quat_xyzw": [-0.0015910794027149677, -0.12936857342720032, -0.007968994788825512, 0.9915633797645569], "bottom_z": 0.15281789408256857, "q": [2.1017125106936874e-07, 1.7281619310379028, 1.7469594478607178, -1.570794701576233, -1.137859362643212e-05, 2.7307339678372955e-07, 0.016699424013495445, -0.01669928804039955], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.001999200088903308, -0.001999200088903308], "finger_forces": {"link_left_finger": [0.007711280137300491, -2.99224853515625, 0.4073793292045593], "link_right_finger": [-0.014210958033800125, 2.9912734031677246, 0.37763646245002747]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377538204193115, 0.4591522812843323, 0.4591521918773651, -0.5377538800239563]}, "link_3": {"xyz": [0.061373256146907806, 2.5020912289619446e-05, 0.3747378885746002], "quat_xyzw": [0.006645785644650459, 0.7070755958557129, -0.7070755958557129, 0.006645942106842995]}, "link_4": {"xyz": [0.3052022457122803, 2.5080516934394836e-05, 0.43933242559432983], "quat_xyzw": [-0.4952782094478607, 0.5046775937080383, -0.5046777129173279, -0.49527812004089355]}, "link_5": {"xyz": [0.346086323261261, 9.12696123123169e-08, 0.36608803272247314], "quat_xyzw": [0.5046747326850891, 0.5046805739402771, -0.4952754080295563, -0.4952809512615204]}, "link_6": {"xyz": [0.30725687742233276, 4.849862307310104e-07, 0.3300517499446869], "quat_xyzw": [0.7070755958557129, 0.7070755958557129, 0.006650465540587902, 0.006642411928623915]}, "link_left_finger": {"xyz": [0.3475872576236725, -0.0202993992716074, 0.2702990770339966], "quat_xyzw": [0.4952753186225891, 0.5046747922897339, 0.5046805143356323, -0.49528104066848755]}, "link_right_finger": {"xyz": [0.2692010998725891, 0.020301885902881622, 0.2688257694244385], "quat_xyzw": [0.4952753186225891, 0.5046747922897339, 0.5046805143356323, -0.49528104066848755]}}}, {"t": 11.302000000000001, "phase": "release", "bottle_xyz": [0.28006139397621155, 0.00013367892825044692, 0.204953134059906], "bottle_quat_xyzw": [-0.0016547004925087094, -0.12992145121097565, -0.00790126621723175, 0.991491436958313], "bottom_z": 0.1527943707930497, "q": [1.9692299702001037e-07, 1.728162169456482, 1.746960163116455, -1.5707943439483643, -1.10738155854051e-05, -1.997562151245802e-07, 0.01672529987990856, -0.01672467403113842], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0022781251464039087, -0.0022781251464039087], "finger_forces": {"link_left_finger": [0.013383917510509491, -2.890904426574707, 0.42773833870887756], "link_right_finger": [-0.0019139572978019714, 2.890781879425049, 0.3606356978416443]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.70710688829422, 0.7071067690849304]}, "link_2": {"xyz": [0.020000001415610313, 2.5006011128425598e-05, 0.11400000005960464], "quat_xyzw": [0.5377538800239563, 0.4591522216796875, 0.45915213227272034, -0.5377539992332458]}, "link_3": {"xyz": [0.06137331575155258, 2.5006011128425598e-05, 0.3747378885746002], "quat_xyzw": [0.006645878776907921, 0.7070755958557129, -0.7070755362510681, 0.006646091118454933]}, "link_4": {"xyz": [0.3052022457122803, 2.5073066353797913e-05, 0.439332515001297], "quat_xyzw": [-0.49527812004089355, 0.5046778321266174, -0.504677951335907, -0.49527791142463684]}, "link_5": {"xyz": [0.34608641266822815, 9.872019290924072e-08, 0.3660881519317627], "quat_xyzw": [0.5046749711036682, 0.5046807527542114, -0.4952753186225891, -0.4952806830406189]}, "link_6": {"xyz": [0.3072569966316223, 4.758330760523677e-07, 0.33005183935165405], "quat_xyzw": [0.7070753574371338, 0.707075834274292, 0.006650655530393124, 0.006642758380621672]}, "link_left_finger": {"xyz": [0.3475874066352844, -0.020273519679903984, 0.27029919624328613], "quat_xyzw": [0.49527502059936523, 0.5046752095222473, 0.5046804547309875, -0.4952809512615204]}, "link_right_finger": {"xyz": [0.26920124888420105, 0.020276451483368874, 0.26882582902908325], "quat_xyzw": [0.49527502059936523, 0.5046752095222473, 0.5046804547309875, -0.4952809512615204]}}}, {"t": 11.322000000000001, "phase": "release", "bottle_xyz": [0.2800576984882355, 0.00013283183216117322, 0.2049327790737152], "bottle_quat_xyzw": [-0.00171436439268291, -0.13046079874038696, -0.00783617328852415, 0.991421103477478], "bottom_z": 0.1527700143275678, "q": [-1.7555778697442292e-07, 1.728162169456482, 1.746960163116455, -1.5707937479019165, -1.0440484402352013e-05, -4.0495564235243364e-07, 0.016743483021855354, -0.016743045300245285], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0025728000327944756, -0.0025728000327944756], "finger_forces": {"link_left_finger": [0.001283939927816391, -2.7684738636016846, 0.42188045382499695], "link_right_finger": [0.001125779002904892, 2.768731117248535, 0.35865703225135803]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377539992332458, 0.45915213227272034, 0.4591522216796875, -0.5377539396286011]}, "link_3": {"xyz": [0.061373330652713776, 2.4985522031784058e-05, 0.3747378885746002], "quat_xyzw": [0.0066460068337619305, 0.7070755958557129, -0.7070755958557129, 0.006645955145359039]}, "link_4": {"xyz": [0.30520233511924744, 2.4974346160888672e-05, 0.439332515001297], "quat_xyzw": [-0.4952778220176697, 0.504677951335907, -0.504677951335907, -0.49527785181999207]}, "link_5": {"xyz": [0.3460865020751953, -2.9802322387695312e-08, 0.3660881519317627], "quat_xyzw": [0.5046753883361816, 0.5046806335449219, -0.49527525901794434, -0.4952804744243622]}, "link_6": {"xyz": [0.3072570860385895, 3.3694959711283445e-07, 0.33005180954933167], "quat_xyzw": [0.7070754170417786, 0.7070757150650024, 0.006650594528764486, 0.006643202621489763]}, "link_left_finger": {"xyz": [0.34758755564689636, -0.020255522802472115, 0.27029919624328613], "quat_xyzw": [0.4952751100063324, 0.5046754479408264, 0.5046804547309875, -0.49528056383132935]}, "link_right_finger": {"xyz": [0.269201397895813, 0.020257897675037384, 0.2688257396221161], "quat_xyzw": [0.4952751100063324, 0.5046754479408264, 0.5046804547309875, -0.49528056383132935]}}}, {"t": 11.342, "phase": "release", "bottle_xyz": [0.2800540328025818, 0.00013254728401079774, 0.2049121856689453], "bottle_quat_xyzw": [-0.0017687551444396377, -0.13094553351402283, -0.00777407456189394, 0.9913575649261475], "bottom_z": 0.1527458779797172, "q": [-1.011096202319095e-07, 1.728162169456482, 1.746959924697876, -1.5707939863204956, -1.0948141607514117e-05, -2.9326005801522115e-07, 0.016748473048210144, -0.016748208552598953], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0028827751521021128, -0.0028827751521021128], "finger_forces": {"link_left_finger": [-0.00024814531207084656, -2.7343764305114746, 0.42024296522140503], "link_right_finger": [-0.013163022696971893, 2.734182357788086, 0.3642094135284424]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377539992332458, 0.45915213227272034, 0.4591522216796875, -0.5377539396286011]}, "link_3": {"xyz": [0.061373330652713776, 2.4985522031784058e-05, 0.3747378885746002], "quat_xyzw": [0.006645920220762491, 0.7070755958557129, -0.7070755958557129, 0.006645893212407827]}, "link_4": {"xyz": [0.30520233511924744, 2.4981796741485596e-05, 0.4393324851989746], "quat_xyzw": [-0.4952779710292816, 0.5046778917312622, -0.5046778917312622, -0.495278000831604]}, "link_5": {"xyz": [0.3460865020751953, -2.2351741790771484e-08, 0.3660881221294403], "quat_xyzw": [0.5046750903129578, 0.5046806335449219, -0.49527525901794434, -0.4952807128429413]}, "link_6": {"xyz": [0.3072570860385895, 3.6596611607819796e-07, 0.33005180954933167], "quat_xyzw": [0.7070754170417786, 0.7070757150650024, 0.0066506145521998405, 0.006642812862992287]}, "link_left_finger": {"xyz": [0.3475874960422516, -0.0202504713088274, 0.27029916644096375], "quat_xyzw": [0.4952751100063324, 0.5046752095222473, 0.5046805143356323, -0.49528083205223083]}, "link_right_finger": {"xyz": [0.2692013382911682, 0.020252810791134834, 0.2688257694244385], "quat_xyzw": [0.4952751100063324, 0.5046752095222473, 0.5046805143356323, -0.49528083205223083]}}}, {"t": 11.362, "phase": "release", "bottle_xyz": [0.28005045652389526, 0.00013252034841571003, 0.20489127933979034], "bottle_quat_xyzw": [-0.0018211867427453399, -0.1314198076725006, -0.007711202837526798, 0.9912951588630676], "bottom_z": 0.15272155399119908, "q": [-1.0171855535645591e-07, 1.7281627655029297, 1.746959924697876, -1.5707931518554688, -1.1137623914692085e-05, 1.5358327232206648e-07, 0.016753975301980972, -0.01675386168062687], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.003207600209861994, -0.003207600209861994], "finger_forces": {"link_left_finger": [0.0021718591451644897, -2.6910619735717773, 0.4189596474170685], "link_right_finger": [-0.00991164892911911, 2.689840316772461, 0.3579188585281372]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377541184425354, 0.4591519832611084, 0.4591520428657532, -0.5377540588378906]}, "link_3": {"xyz": [0.061373479664325714, 2.5000423192977905e-05, 0.3747378885746002], "quat_xyzw": [0.00664572324603796, 0.7070755958557129, -0.7070755958557129, 0.006645697634667158]}, "link_4": {"xyz": [0.30520251393318176, 2.4996697902679443e-05, 0.43933233618736267], "quat_xyzw": [-0.49527791142463684, 0.504677951335907, -0.504677951335907, -0.49527791142463684]}, "link_5": {"xyz": [0.34608668088912964, -7.450580596923828e-09, 0.36608797311782837], "quat_xyzw": [0.5046751499176025, 0.5046807527542114, -0.4952751696109772, -0.4952806830406189]}, "link_6": {"xyz": [0.3072572648525238, 3.786262823268771e-07, 0.33005163073539734], "quat_xyzw": [0.7070755958557129, 0.7070755958557129, 0.006650748662650585, 0.006642885040491819]}, "link_left_finger": {"xyz": [0.3475877046585083, -0.020244969055056572, 0.2702990174293518], "quat_xyzw": [0.4952751398086548, 0.5046751499176025, 0.5046806931495667, -0.4952806830406189]}, "link_right_finger": {"xyz": [0.2692015469074249, 0.020247189328074455, 0.26882556080818176], "quat_xyzw": [0.4952751398086548, 0.5046751499176025, 0.5046806931495667, -0.4952806830406189]}}}, {"t": 11.382000000000001, "phase": "release", "bottle_xyz": [0.2800465226173401, 0.00013236205268185586, 0.2048700600862503], "bottle_quat_xyzw": [-0.0018703885143622756, -0.131908118724823, -0.0076508172787725925, 0.9912307262420654], "bottom_z": 0.1526968658227642, "q": [-9.991616423121741e-08, 1.7281626462936401, 1.7469598054885864, -1.5707939863204956, -1.1278279998805374e-05, 4.6799397068753024e-07, 0.01676771230995655, -0.016767717897892], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0035468251444399357, -0.0035468251444399357], "finger_forces": {"link_left_finger": [0.0012115202844142914, -2.5946741104125977, 0.4106273651123047], "link_right_finger": [-0.0002490580081939697, 2.5941195487976074, 0.35688477754592896]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377541184425354, 0.4591520130634308, 0.45915210247039795, -0.5377540588378906]}, "link_3": {"xyz": [0.06137343496084213, 2.4985522031784058e-05, 0.3747378885746002], "quat_xyzw": [0.006645711604505777, 0.7070755958557129, -0.7070755958557129, 0.006645665504038334]}, "link_4": {"xyz": [0.305202454328537, 2.4978071451187134e-05, 0.4393323063850403], "quat_xyzw": [-0.49527812004089355, 0.5046777725219727, -0.5046777129173279, -0.49527814984321594]}, "link_5": {"xyz": [0.3460865616798401, -2.60770320892334e-08, 0.3660879135131836], "quat_xyzw": [0.5046749114990234, 0.5046805143356323, -0.4952752888202667, -0.4952809512615204]}, "link_6": {"xyz": [0.30725711584091187, 3.792520146816969e-07, 0.33005163073539734], "quat_xyzw": [0.7070757746696472, 0.7070754170417786, 0.006650487892329693, 0.006642538588494062]}, "link_left_finger": {"xyz": [0.3475874662399292, -0.020231246948242188, 0.27029895782470703], "quat_xyzw": [0.49527543783187866, 0.5046747922897339, 0.5046806335449219, -0.49528080224990845]}, "link_right_finger": {"xyz": [0.2692013382911682, 0.020233359187841415, 0.26882559061050415], "quat_xyzw": [0.49527543783187866, 0.5046747922897339, 0.5046806335449219, -0.49528080224990845]}}}, {"t": 11.402000000000001, "phase": "release", "bottle_xyz": [0.280042827129364, 0.0001319466100540012, 0.2048480361700058], "bottle_quat_xyzw": [-0.0019186536082997918, -0.13239507377147675, -0.007591621484607458, 0.9911661148071289], "bottom_z": 0.15267143329591085, "q": [-1.255234565178398e-07, 1.7281626462936401, 1.7469598054885864, -1.570793867111206, -1.1324402294121683e-05, 5.197266546019819e-07, 0.01678502932190895, -0.016785146668553352], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.003900000127032399, -0.003900000127032399], "finger_forces": {"link_left_finger": [0.0019188784062862396, -2.482698440551758, 0.41718193888664246], "link_right_finger": [-0.0010580047965049744, 2.4821839332580566, 0.3600519895553589]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377541184425354, 0.4591520130634308, 0.45915210247039795, -0.5377540588378906]}, "link_3": {"xyz": [0.06137343496084213, 2.4985522031784058e-05, 0.3747378885746002], "quat_xyzw": [0.006645711604505777, 0.7070755958557129, -0.7070755958557129, 0.006645665504038334]}, "link_4": {"xyz": [0.305202454328537, 2.4978071451187134e-05, 0.4393323063850403], "quat_xyzw": [-0.4952780604362488, 0.5046777129173279, -0.5046777129173279, -0.49527809023857117]}, "link_5": {"xyz": [0.3460865616798401, -2.60770320892334e-08, 0.3660879135131836], "quat_xyzw": [0.5046749114990234, 0.5046805739402771, -0.4952753186225891, -0.495280921459198]}, "link_6": {"xyz": [0.30725711584091187, 3.7212157621979713e-07, 0.33005160093307495], "quat_xyzw": [0.7070757746696472, 0.7070754170417786, 0.006650509312748909, 0.00664256839081645]}, "link_left_finger": {"xyz": [0.3475874662399292, -0.02021394670009613, 0.27029895782470703], "quat_xyzw": [0.49527543783187866, 0.5046747922897339, 0.5046806931495667, -0.49528080224990845]}, "link_right_finger": {"xyz": [0.2692013382911682, 0.020215928554534912, 0.26882556080818176], "quat_xyzw": [0.49527543783187866, 0.5046747922897339, 0.5046806931495667, -0.49528080224990845]}}}, {"t": 11.422, "phase": "release", "bottle_xyz": [0.2800392210483551, 0.00013157972716726363, 0.20482517778873444], "bottle_quat_xyzw": [-0.001961745321750641, -0.1328582763671875, -0.0075344908982515335, 0.9911045432090759], "bottom_z": 0.15264537945786366, "q": [-8.890633296232409e-08, 1.7281626462936401, 1.7469598054885864, -1.5707939863204956, -1.135445199906826e-05, 3.6824226867793186e-07, 0.01680016703903675, -0.01680038310587406], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.004266675096005201, -0.004266675096005201], "finger_forces": {"link_left_finger": [0.008321765810251236, -2.3889286518096924, 0.41092759370803833], "link_right_finger": [-0.006515268236398697, 2.3886570930480957, 0.3693200945854187]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377541184425354, 0.4591520130634308, 0.45915210247039795, -0.5377540588378906]}, "link_3": {"xyz": [0.06137343496084213, 2.4985522031784058e-05, 0.3747378885746002], "quat_xyzw": [0.006645711604505777, 0.7070755958557129, -0.7070755958557129, 0.006645665504038334]}, "link_4": {"xyz": [0.305202454328537, 2.4978071451187134e-05, 0.4393323063850403], "quat_xyzw": [-0.49527812004089355, 0.5046777725219727, -0.5046777129173279, -0.49527814984321594]}, "link_5": {"xyz": [0.3460865616798401, -2.60770320892334e-08, 0.3660879135131836], "quat_xyzw": [0.5046749114990234, 0.5046805739402771, -0.4952752888202667, -0.49528101086616516]}, "link_6": {"xyz": [0.30725711584091187, 3.7484278436750174e-07, 0.33005160093307495], "quat_xyzw": [0.7070757150650024, 0.7070754170417786, 0.006650540977716446, 0.006642478052526712]}, "link_left_finger": {"xyz": [0.3475874662399292, -0.020198773592710495, 0.27029892802238464], "quat_xyzw": [0.4952753782272339, 0.5046747326850891, 0.5046806335449219, -0.4952808618545532]}, "link_right_finger": {"xyz": [0.2692013680934906, 0.0202006995677948, 0.26882562041282654], "quat_xyzw": [0.4952753782272339, 0.5046747326850891, 0.5046806335449219, -0.4952808618545532]}}}, {"t": 11.442, "phase": "release", "bottle_xyz": [0.28003552556037903, 0.00013122371456120163, 0.20480157434940338], "bottle_quat_xyzw": [-0.002002167981117964, -0.1333007514476776, -0.007476517464965582, 0.9910454154014587], "bottom_z": 0.1526187663383785, "q": [-1.1262583399229698e-07, 1.7281626462936401, 1.7469598054885864, -1.5707941055297852, -1.1284174433967564e-05, 3.698686725783773e-07, 0.01681339740753174, -0.016813701018691063], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.004646399989724159, -0.004646399989724159], "finger_forces": {"link_left_finger": [0.0053990986198186874, -2.30828857421875, 0.4157859683036804], "link_right_finger": [-0.003483535721898079, 2.308370590209961, 0.3727263808250427]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377541184425354, 0.4591520130634308, 0.45915210247039795, -0.5377540588378906]}, "link_3": {"xyz": [0.06137343496084213, 2.4985522031784058e-05, 0.3747378885746002], "quat_xyzw": [0.006645711604505777, 0.7070755958557129, -0.7070755958557129, 0.006645665504038334]}, "link_4": {"xyz": [0.305202454328537, 2.4978071451187134e-05, 0.4393323063850403], "quat_xyzw": [-0.49527814984321594, 0.5046777129173279, -0.5046776533126831, -0.49527817964553833]}, "link_5": {"xyz": [0.3460865616798401, -1.862645149230957e-08, 0.3660879135131836], "quat_xyzw": [0.5046748518943787, 0.5046805143356323, -0.4952753186225891, -0.4952809810638428]}, "link_6": {"xyz": [0.30725711584091187, 3.845489118248224e-07, 0.33005163073539734], "quat_xyzw": [0.7070757150650024, 0.7070754766464233, 0.0066504706628620625, 0.00664246641099453]}, "link_left_finger": {"xyz": [0.3475874960422516, -0.02018553577363491, 0.27029895782470703], "quat_xyzw": [0.4952754080295563, 0.5046747922897339, 0.5046805739402771, -0.4952808916568756]}, "link_right_finger": {"xyz": [0.2692013382911682, 0.0201873816549778, 0.26882562041282654], "quat_xyzw": [0.4952754080295563, 0.5046747922897339, 0.5046805739402771, -0.4952808916568756]}}}, {"t": 11.462000000000002, "phase": "release", "bottle_xyz": [0.2800319194793701, 0.00013002977357245982, 0.20477710664272308], "bottle_quat_xyzw": [-0.002041046041995287, -0.1337280124425888, -0.00741962157189846, 0.9909882545471191], "bottom_z": 0.15259143233674782, "q": [-8.701898934759811e-08, 1.7281626462936401, 1.7469598054885864, -1.5707941055297852, -1.2230694665049668e-05, 8.566757401240466e-07, 0.016828080639243126, -0.016828443855047226], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.005038725212216377, -0.005038725212216377], "finger_forces": {"link_left_finger": [0.002193199470639229, -2.2481400966644287, 0.4055335521697998], "link_right_finger": [-0.0009572431445121765, 2.2306199073791504, 0.38125497102737427]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377541184425354, 0.4591520130634308, 0.45915210247039795, -0.5377540588378906]}, "link_3": {"xyz": [0.06137343496084213, 2.4985522031784058e-05, 0.3747378885746002], "quat_xyzw": [0.006645711604505777, 0.7070755958557129, -0.7070755958557129, 0.006645665504038334]}, "link_4": {"xyz": [0.305202454328537, 2.4978071451187134e-05, 0.4393323063850403], "quat_xyzw": [-0.49527814984321594, 0.5046777129173279, -0.5046776533126831, -0.49527817964553833]}, "link_5": {"xyz": [0.3460865616798401, -1.862645149230957e-08, 0.3660879135131836], "quat_xyzw": [0.5046746134757996, 0.5046807527542114, -0.49527508020401, -0.4952812194824219]}, "link_6": {"xyz": [0.30725711584091187, 4.178436938673258e-07, 0.33005163073539734], "quat_xyzw": [0.7070758938789368, 0.707075297832489, 0.00665081525221467, 0.006642119027674198]}, "link_left_finger": {"xyz": [0.3475874662399292, -0.02017078921198845, 0.27029895782470703], "quat_xyzw": [0.4952752888202667, 0.5046743750572205, 0.5046809911727905, -0.49528101086616516]}, "link_right_finger": {"xyz": [0.2692013680934906, 0.020172756165266037, 0.2688256502151489], "quat_xyzw": [0.4952752888202667, 0.5046743750572205, 0.5046809911727905, -0.49528101086616516]}}}, {"t": 11.482000000000001, "phase": "release", "bottle_xyz": [0.28002816438674927, 0.00012627146497834474, 0.20475156605243683], "bottle_quat_xyzw": [-0.002078629331663251, -0.1341383159160614, -0.007368209306150675, 0.9909331202507019], "bottom_z": 0.15256317590060142, "q": [-1.228152370913449e-07, 1.7281625270843506, 1.7469598054885864, -1.5707945823669434, -1.1093838111264631e-05, 5.019829814045806e-07, 0.016848033294081688, -0.016848331317305565], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0054432000033557415, -0.0054432000033557415], "finger_forces": {"link_left_finger": [0.00319683738052845, -2.1306326389312744, 0.40303435921669006], "link_right_finger": [0.00018162652850151062, 2.131796360015869, 0.3786242604255676]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377540588378906, 0.4591520428657532, 0.45915213227272034, -0.5377539992332458]}, "link_3": {"xyz": [0.061373405158519745, 2.5000423192977905e-05, 0.3747378885746002], "quat_xyzw": [0.0066457646898925304, 0.7070755958557129, -0.7070755362510681, 0.006645733490586281]}, "link_4": {"xyz": [0.3052023947238922, 2.4985522031784058e-05, 0.43933236598968506], "quat_xyzw": [-0.4952782690525055, 0.5046776533126831, -0.5046775937080383, -0.4952782392501831]}, "link_5": {"xyz": [0.3460864722728729, -1.1175870895385742e-08, 0.366087943315506], "quat_xyzw": [0.5046747922897339, 0.5046804547309875, -0.49527546763420105, -0.49528107047080994]}, "link_6": {"xyz": [0.3072570264339447, 3.784953150898218e-07, 0.3300516605377197], "quat_xyzw": [0.7070757150650024, 0.7070754170417786, 0.0066503314301371574, 0.006642363965511322]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.020150912925601006, 0.2702989876270294], "quat_xyzw": [0.49527549743652344, 0.5046746730804443, 0.5046805143356323, -0.495280921459198]}, "link_right_finger": {"xyz": [0.26920121908187866, 0.0201527401804924, 0.2688256800174713], "quat_xyzw": [0.49527549743652344, 0.5046746730804443, 0.5046805143356323, -0.495280921459198]}}}, {"t": 11.502, "phase": "release", "bottle_xyz": [0.28002452850341797, 0.0001259765849681571, 0.20472462475299835], "bottle_quat_xyzw": [-0.002116726478561759, -0.134547621011734, -0.007321311626583338, 0.9908778667449951], "bottom_z": 0.15253356119180342, "q": [-1.481899545296983e-07, 1.7281625270843506, 1.7469598054885864, -1.5707945823669434, -1.108731248677941e-05, 4.4272601940065215e-07, 0.016870180144906044, -0.01687057688832283], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.005859375, -0.005859375], "finger_forces": {"link_left_finger": [0.005294414237141609, -2.011678695678711, 0.40134450793266296], "link_right_finger": [-0.001302158460021019, 2.0121402740478516, 0.3752906024456024]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377540588378906, 0.4591520428657532, 0.45915213227272034, -0.5377539992332458]}, "link_3": {"xyz": [0.061373405158519745, 2.5000423192977905e-05, 0.3747378885746002], "quat_xyzw": [0.0066457646898925304, 0.7070755958557129, -0.7070755362510681, 0.006645733490586281]}, "link_4": {"xyz": [0.3052023947238922, 2.4985522031784058e-05, 0.43933236598968506], "quat_xyzw": [-0.4952782690525055, 0.5046776533126831, -0.5046775937080383, -0.4952782392501831]}, "link_5": {"xyz": [0.3460864722728729, -1.1175870895385742e-08, 0.366087943315506], "quat_xyzw": [0.5046747922897339, 0.5046804547309875, -0.49527546763420105, -0.49528107047080994]}, "link_6": {"xyz": [0.3072570264339447, 3.788882168009877e-07, 0.3300516605377197], "quat_xyzw": [0.7070757150650024, 0.7070754766464233, 0.006650321185588837, 0.006642363965511322]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.020128773525357246, 0.27029895782470703], "quat_xyzw": [0.4952755272388458, 0.5046746730804443, 0.5046805143356323, -0.4952809810638428]}, "link_right_finger": {"xyz": [0.26920121908187866, 0.020130494609475136, 0.2688256800174713], "quat_xyzw": [0.4952755272388458, 0.5046746730804443, 0.5046805143356323, -0.4952809810638428]}}}, {"t": 11.522, "phase": "release", "bottle_xyz": [0.28002089262008667, 0.0001256846298929304, 0.20469626784324646], "bottle_quat_xyzw": [-0.0021512475796043873, -0.13492849469184875, -0.007275525480508804, 0.9908263087272644], "bottom_z": 0.15250274871853148, "q": [-2.914598873360319e-08, 1.7281625270843506, 1.7469598054885864, -1.5707944631576538, -1.144507677963702e-05, 2.988803373682458e-07, 0.0168899018317461, -0.016890376806259155], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0062868003733456135, -0.0062868003733456135], "finger_forces": {"link_left_finger": [0.007665872573852539, -1.9109021425247192, 0.4039798080921173], "link_right_finger": [-0.007207242771983147, 1.910668969154358, 0.38070452213287354]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377540588378906, 0.45915210247039795, 0.45915210247039795, -0.5377540588378906]}, "link_3": {"xyz": [0.06137339025735855, 2.5002285838127136e-05, 0.3747379183769226], "quat_xyzw": [0.006645711604505777, 0.7070755958557129, -0.7070755958557129, 0.0066457632929086685]}, "link_4": {"xyz": [0.3052023947238922, 2.502836287021637e-05, 0.43933236598968506], "quat_xyzw": [-0.4952782392501831, 0.5046775937080383, -0.5046776533126831, -0.4952782094478607]}, "link_5": {"xyz": [0.3460864722728729, 2.421438694000244e-08, 0.366087943315506], "quat_xyzw": [0.5046747326850891, 0.5046805143356323, -0.4952754080295563, -0.49528104066848755]}, "link_6": {"xyz": [0.3072569966316223, 4.2456667870283127e-07, 0.3300516605377197], "quat_xyzw": [0.7070756554603577, 0.7070755362510681, 0.0066504282876849174, 0.006642352323979139]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.020108982920646667, 0.2702989876270294], "quat_xyzw": [0.4952754080295563, 0.5046747326850891, 0.5046805143356323, -0.49528104066848755]}, "link_right_finger": {"xyz": [0.26920121908187866, 0.02011074312031269, 0.2688256502151489], "quat_xyzw": [0.4952754080295563, 0.5046747326850891, 0.5046805143356323, -0.49528104066848755]}}}, {"t": 11.542000000000002, "phase": "release", "bottle_xyz": [0.28001728653907776, 0.00012536020949482918, 0.20466655492782593], "bottle_quat_xyzw": [-0.0021833700593560934, -0.13528229296207428, -0.0072290352545678616, 0.9907783269882202], "bottom_z": 0.15247078282459198, "q": [-3.346921673141878e-08, 1.7281625270843506, 1.7469598054885864, -1.5707944631576538, -1.1541381354618352e-05, 3.313314778097265e-07, 0.016908125951886177, -0.016908638179302216], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.006725025363266468, -0.006725025363266468], "finger_forces": {"link_left_finger": [-0.0004522334784269333, -1.8209298849105835, 0.4001025855541229], "link_right_finger": [-0.005315994843840599, 1.8209002017974854, 0.3800719380378723]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377540588378906, 0.45915210247039795, 0.45915210247039795, -0.5377540588378906]}, "link_3": {"xyz": [0.06137339025735855, 2.5002285838127136e-05, 0.3747379183769226], "quat_xyzw": [0.006645711604505777, 0.7070755958557129, -0.7070755958557129, 0.0066457632929086685]}, "link_4": {"xyz": [0.3052023947238922, 2.502836287021637e-05, 0.43933236598968506], "quat_xyzw": [-0.4952782392501831, 0.5046775937080383, -0.5046776533126831, -0.4952782094478607]}, "link_5": {"xyz": [0.3460864722728729, 2.421438694000244e-08, 0.366087943315506], "quat_xyzw": [0.5046747326850891, 0.5046805739402771, -0.4952754080295563, -0.49528107047080994]}, "link_6": {"xyz": [0.3072569966316223, 4.227476892992854e-07, 0.3300516605377197], "quat_xyzw": [0.7070756554603577, 0.7070755362510681, 0.0066504450514912605, 0.006642321590334177]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.020090755075216293, 0.27029895782470703], "quat_xyzw": [0.4952753782272339, 0.5046747326850891, 0.5046805143356323, -0.49528104066848755]}, "link_right_finger": {"xyz": [0.26920121908187866, 0.020092487335205078, 0.2688256502151489], "quat_xyzw": [0.4952753782272339, 0.5046747326850891, 0.5046805143356323, -0.49528104066848755]}}}, {"t": 11.562000000000001, "phase": "release", "bottle_xyz": [0.2800135314464569, 0.00012484699254855514, 0.20463509857654572], "bottle_quat_xyzw": [-0.0022182846441864967, -0.1356172263622284, -0.007182446774095297, 0.9907328486442566], "bottom_z": 0.15243721942008795, "q": [-9.459315108983901e-09, 1.7281625270843506, 1.7469598054885864, -1.5707944631576538, -1.1811302101705223e-05, 5.406996592682844e-07, 0.016928086057305336, -0.016928628087043762], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.007173600140959024, -0.007173600140959024], "finger_forces": {"link_left_finger": [0.004270737990736961, -1.7268149852752686, 0.39776670932769775], "link_right_finger": [-0.0007297433912754059, 1.7273273468017578, 0.3768919110298157]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377540588378906, 0.45915210247039795, 0.45915210247039795, -0.5377540588378906]}, "link_3": {"xyz": [0.06137339025735855, 2.5002285838127136e-05, 0.3747379183769226], "quat_xyzw": [0.006645711604505777, 0.7070755958557129, -0.7070755958557129, 0.0066457632929086685]}, "link_4": {"xyz": [0.3052023947238922, 2.502836287021637e-05, 0.43933236598968506], "quat_xyzw": [-0.4952782392501831, 0.5046775937080383, -0.5046776533126831, -0.4952782094478607]}, "link_5": {"xyz": [0.3460864722728729, 2.421438694000244e-08, 0.366087943315506], "quat_xyzw": [0.5046746134757996, 0.5046806335449219, -0.4952753186225891, -0.4952811598777771]}, "link_6": {"xyz": [0.3072570264339447, 4.354806151241064e-07, 0.3300516605377197], "quat_xyzw": [0.7070757150650024, 0.7070754766464233, 0.0066505554132163525, 0.0066421786323189735]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.020070770755410194, 0.27029895782470703], "quat_xyzw": [0.4952753484249115, 0.5046745538711548, 0.5046806335449219, -0.4952811002731323]}, "link_right_finger": {"xyz": [0.26920124888420105, 0.020072532817721367, 0.2688256800174713], "quat_xyzw": [0.4952753484249115, 0.5046745538711548, 0.5046806335449219, -0.4952811002731323]}}}, {"t": 11.582, "phase": "release", "bottle_xyz": [0.2800099551677704, 0.00012451564543880522, 0.20460128784179688], "bottle_quat_xyzw": [-0.00226065912283957, -0.13593679666519165, -0.007140065543353558, 0.9906892776489258], "bottom_z": 0.1524014225896902, "q": [-3.812437032735261e-09, 1.7281625270843506, 1.7469598054885864, -1.5707944631576538, -1.1779955457313918e-05, 5.504165301317698e-07, 0.016951464116573334, -0.0169520266354084], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.007632075343281031, -0.007632075343281031], "finger_forces": {"link_left_finger": [0.002722393721342087, -1.6211445331573486, 0.3995095193386078], "link_right_finger": [-0.004629591479897499, 1.6210980415344238, 0.3785974383354187]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377540588378906, 0.45915210247039795, 0.45915210247039795, -0.5377540588378906]}, "link_3": {"xyz": [0.06137339025735855, 2.5002285838127136e-05, 0.3747379183769226], "quat_xyzw": [0.006645711604505777, 0.7070755958557129, -0.7070755958557129, 0.0066457632929086685]}, "link_4": {"xyz": [0.3052023947238922, 2.502836287021637e-05, 0.43933236598968506], "quat_xyzw": [-0.4952782392501831, 0.5046775937080383, -0.5046776533126831, -0.4952782094478607]}, "link_5": {"xyz": [0.3460864722728729, 2.421438694000244e-08, 0.366087943315506], "quat_xyzw": [0.5046746730804443, 0.5046805739402771, -0.4952753186225891, -0.4952811002731323]}, "link_6": {"xyz": [0.3072570264339447, 4.3980253394693136e-07, 0.3300516605377197], "quat_xyzw": [0.7070757150650024, 0.7070754170417786, 0.006650514900684357, 0.006642250809818506]}, "link_left_finger": {"xyz": [0.34758737683296204, -0.020047398284077644, 0.2702989876270294], "quat_xyzw": [0.4952753782272339, 0.5046745538711548, 0.5046806335449219, -0.49528101086616516]}, "link_right_finger": {"xyz": [0.26920121908187866, 0.02004912681877613, 0.2688257098197937], "quat_xyzw": [0.4952753782272339, 0.5046745538711548, 0.5046806335449219, -0.49528101086616516]}}}, {"t": 11.602, "phase": "release", "bottle_xyz": [0.2800064980983734, 0.0001234803639817983, 0.2045651227235794], "bottle_quat_xyzw": [-0.002302705543115735, -0.13623739778995514, -0.0070984275080263615, 0.9906481504440308], "bottom_z": 0.15236340999081147, "q": [-1.7074683000828372e-08, 1.7281625270843506, 1.7469598054885864, -1.5707944631576538, -1.1830647054011934e-05, 5.644948828376073e-07, 0.016977427527308464, -0.016977978870272636], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.008100000210106373, -0.008100000210106373], "finger_forces": {"link_left_finger": [0.002996183931827545, -1.5124270915985107, 0.402224063873291], "link_right_finger": [0.0005274564027786255, 1.5131968259811401, 0.3818013072013855]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377540588378906, 0.45915210247039795, 0.45915210247039795, -0.5377540588378906]}, "link_3": {"xyz": [0.06137339025735855, 2.5002285838127136e-05, 0.3747379183769226], "quat_xyzw": [0.006645711604505777, 0.7070755958557129, -0.7070755958557129, 0.0066457632929086685]}, "link_4": {"xyz": [0.3052023947238922, 2.502836287021637e-05, 0.43933236598968506], "quat_xyzw": [-0.4952782392501831, 0.5046775937080383, -0.5046776533126831, -0.4952782094478607]}, "link_5": {"xyz": [0.3460864722728729, 2.421438694000244e-08, 0.366087943315506], "quat_xyzw": [0.5046746134757996, 0.5046806335449219, -0.4952753186225891, -0.4952811598777771]}, "link_6": {"xyz": [0.3072570264339447, 4.3533509597182274e-07, 0.3300516605377197], "quat_xyzw": [0.7070757150650024, 0.7070754766464233, 0.006650559604167938, 0.0066421786323189735]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.020021429285407066, 0.27029895782470703], "quat_xyzw": [0.4952753484249115, 0.5046745538711548, 0.5046806335449219, -0.4952811002731323]}, "link_right_finger": {"xyz": [0.26920124888420105, 0.020023180171847343, 0.2688256800174713], "quat_xyzw": [0.4952753484249115, 0.5046745538711548, 0.5046806335449219, -0.4952811002731323]}}}, {"t": 11.622000000000002, "phase": "release", "bottle_xyz": [0.2800029516220093, 0.00012295844499021769, 0.20452575385570526], "bottle_quat_xyzw": [-0.002354663796722889, -0.13651038706302643, -0.007057505194097757, 0.9906107187271118], "bottom_z": 0.1523223837425482, "q": [-3.172736739998072e-08, 1.7281625270843506, 1.7469598054885864, -1.5707943439483643, -1.1714471838786267e-05, 3.5938359133069753e-07, 0.01700490340590477, -0.017005445435643196], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.008576924912631512, -0.008576924912631512], "finger_forces": {"link_left_finger": [0.012152140028774738, -1.4034459590911865, 0.3979557156562805], "link_right_finger": [0.0013044187799096107, 1.4047727584838867, 0.3782811760902405]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377540588378906, 0.45915210247039795, 0.45915210247039795, -0.5377540588378906]}, "link_3": {"xyz": [0.06137339025735855, 2.5002285838127136e-05, 0.3747379183769226], "quat_xyzw": [0.006645711604505777, 0.7070755958557129, -0.7070755958557129, 0.0066457632929086685]}, "link_4": {"xyz": [0.3052023947238922, 2.502836287021637e-05, 0.43933236598968506], "quat_xyzw": [-0.4952782094478607, 0.5046776533126831, -0.5046777129173279, -0.49527817964553833]}, "link_5": {"xyz": [0.3460865020751953, 3.166496753692627e-08, 0.36608797311782837], "quat_xyzw": [0.5046747326850891, 0.5046806335449219, -0.4952753186225891, -0.49528107047080994]}, "link_6": {"xyz": [0.3072570562362671, 4.3357431422919035e-07, 0.3300516605377197], "quat_xyzw": [0.7070756554603577, 0.7070754766464233, 0.006650552153587341, 0.006642321590334177]}, "link_left_finger": {"xyz": [0.3475874364376068, -0.019993962720036507, 0.27029895782470703], "quat_xyzw": [0.4952753186225891, 0.5046746730804443, 0.5046806335449219, -0.49528101086616516]}, "link_right_finger": {"xyz": [0.26920127868652344, 0.01999569684267044, 0.2688256502151489], "quat_xyzw": [0.4952753186225891, 0.5046746730804443, 0.5046806335449219, -0.49528101086616516]}}}, {"t": 11.642000000000001, "phase": "release", "bottle_xyz": [0.27999937534332275, 0.00012150839029345661, 0.20448312163352966], "bottle_quat_xyzw": [-0.0023915742058306932, -0.13674962520599365, -0.007019088603556156, 0.9905779361724854], "bottom_z": 0.1522783106510438, "q": [7.37712113618727e-08, 1.7281625270843506, 1.7469598054885864, -1.5707942247390747, -1.328518283116864e-05, 1.201812210638309e-06, 0.017033351585268974, -0.017033806070685387], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.009062400087714195, -0.009062400087714195], "finger_forces": {"link_left_finger": [-0.00016588158905506134, -1.331040382385254, 0.39548105001449585], "link_right_finger": [-0.0009560482576489449, 1.3047864437103271, 0.3857186436653137]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377540588378906, 0.45915210247039795, 0.45915210247039795, -0.5377540588378906]}, "link_3": {"xyz": [0.06137339025735855, 2.5002285838127136e-05, 0.3747379183769226], "quat_xyzw": [0.006645711604505777, 0.7070755958557129, -0.7070755958557129, 0.0066457632929086685]}, "link_4": {"xyz": [0.3052023947238922, 2.502836287021637e-05, 0.43933236598968506], "quat_xyzw": [-0.49527814984321594, 0.5046776533126831, -0.5046777129173279, -0.49527812004089355]}, "link_5": {"xyz": [0.3460865020751953, 3.166496753692627e-08, 0.36608797311782837], "quat_xyzw": [0.5046743154525757, 0.5046810507774353, -0.4952749013900757, -0.4952813982963562]}, "link_6": {"xyz": [0.3072570562362671, 4.875764716416597e-07, 0.3300516903400421], "quat_xyzw": [0.7070759534835815, 0.7070752382278442, 0.006651147268712521, 0.006641789339482784]}, "link_left_finger": {"xyz": [0.3475874066352844, -0.01996539533138275, 0.2702989876270294], "quat_xyzw": [0.4952751100063324, 0.5046741366386414, 0.5046812295913696, -0.4952812194824219]}, "link_right_finger": {"xyz": [0.2692013084888458, 0.01996752619743347, 0.2688257098197937], "quat_xyzw": [0.4952751100063324, 0.5046741366386414, 0.5046812295913696, -0.4952812194824219]}}}, {"t": 11.662, "phase": "release", "bottle_xyz": [0.27999556064605713, 0.00011606526823015884, 0.20443792641162872], "bottle_quat_xyzw": [-0.0023972545750439167, -0.13697223365306854, -0.006988988257944584, 0.9905473589897156], "bottom_z": 0.15223177845509023, "q": [-3.8197924823180074e-07, 1.7281622886657715, 1.746959924697876, -1.5707932710647583, -1.019466799334623e-05, 1.3001587717553775e-07, 0.017065979540348053, -0.01706624962389469], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.00955597497522831, -0.00955597497522831], "finger_forces": {"link_left_finger": [0.005053295753896236, -1.2038600444793701, 0.3861435055732727], "link_right_finger": [-0.0012653069570660591, 1.2023649215698242, 0.38416528701782227]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5377540588378906, 0.4591520428657532, 0.4591522514820099, -0.5377538800239563]}, "link_3": {"xyz": [0.06137334555387497, 2.4981796741485596e-05, 0.3747378885746002], "quat_xyzw": [0.006646003108471632, 0.7070755958557129, -0.7070755958557129, 0.00664579588919878]}, "link_4": {"xyz": [0.3052023649215698, 2.4918466806411743e-05, 0.4393324553966522], "quat_xyzw": [-0.4952777326107025, 0.5046781301498413, -0.504677951335907, -0.49527788162231445]}, "link_5": {"xyz": [0.3460865616798401, -9.313225746154785e-08, 0.3660881221294403], "quat_xyzw": [0.5046755075454712, 0.5046805143356323, -0.4952751696109772, -0.4952804446220398]}, "link_6": {"xyz": [0.30725717544555664, 2.86396243609488e-07, 0.3300517797470093], "quat_xyzw": [0.7070757150650024, 0.7070754766464233, 0.006650576833635569, 0.006643317639827728]}, "link_left_finger": {"xyz": [0.34758761525154114, -0.019933128729462624, 0.27029916644096375], "quat_xyzw": [0.4952753484249115, 0.5046753883361816, 0.5046806931495667, -0.49528029561042786]}, "link_right_finger": {"xyz": [0.26920145750045776, 0.019934680312871933, 0.2688256800174713], "quat_xyzw": [0.4952753484249115, 0.5046753883361816, 0.5046806931495667, -0.49528029561042786]}}}, {"t": 11.682, "phase": "release", "bottle_xyz": [0.2799912393093109, 0.0001153420889750123, 0.20438793301582336], "bottle_quat_xyzw": [-0.002397742588073015, -0.1371789276599884, -0.0069536082446575165, 0.9905189871788025], "bottom_z": 0.15218055226200483, "q": [-3.304438109807961e-07, 1.7281625270843506, 1.7469600439071655, -1.5707929134368896, -1.068657456926303e-05, 5.336190724847256e-07, 0.017101949080824852, -0.017102358862757683], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.01005720067769289, -0.01005720067769289], "finger_forces": {"link_left_finger": [0.002041102387011051, -1.0857164859771729, 0.38726145029067993], "link_right_finger": [1.6121193766593933e-05, 1.085276484489441, 0.38074392080307007]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5377541184425354, 0.4591520130634308, 0.4591521918773651, -0.5377539396286011]}, "link_3": {"xyz": [0.06137339025735855, 2.4996697902679443e-05, 0.3747378885746002], "quat_xyzw": [0.006645956542342901, 0.7070755362510681, -0.7070755958557129, 0.00664575956761837]}, "link_4": {"xyz": [0.30520233511924744, 2.493336796760559e-05, 0.43933242559432983], "quat_xyzw": [-0.49527767300605774, 0.5046781897544861, -0.5046780705451965, -0.49527785181999207]}, "link_5": {"xyz": [0.3460865616798401, -7.82310962677002e-08, 0.3660880923271179], "quat_xyzw": [0.5046755075454712, 0.5046807527542114, -0.49527502059936523, -0.4952804744243622]}, "link_6": {"xyz": [0.30725720524787903, 3.048335202038288e-07, 0.3300517201423645], "quat_xyzw": [0.707075834274292, 0.707075297832489, 0.0066508459858596325, 0.006643286906182766]}, "link_left_finger": {"xyz": [0.3475876450538635, -0.019897140562534332, 0.27029913663864136], "quat_xyzw": [0.4952752888202667, 0.5046752691268921, 0.5046809911727905, -0.49528026580810547]}, "link_right_finger": {"xyz": [0.2692015469074249, 0.019898634403944016, 0.2688256502151489], "quat_xyzw": [0.4952752888202667, 0.5046752691268921, 0.5046809911727905, -0.49528026580810547]}}}, {"t": 11.702000000000002, "phase": "release", "bottle_xyz": [0.2799866795539856, 0.00011449867452029139, 0.20433159172534943], "bottle_quat_xyzw": [-0.002407119609415531, -0.13733893632888794, -0.006914706900715828, 0.9904970526695251], "bottom_z": 0.15212326566898515, "q": [-9.467539996421692e-08, 1.7281622886657715, 1.7469602823257446, -1.5707926750183105, -1.1566118701011874e-05, 5.719424507333315e-07, 0.017138991504907608, -0.017139500007033348], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.010565625503659248, -0.010565625503659248], "finger_forces": {"link_left_finger": [-0.005866296589374542, -0.9747198224067688, 0.3885461986064911], "link_right_finger": [-0.009749115444719791, 0.974666178226471, 0.3827050030231476]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377539992332458, 0.45915210247039795, 0.4591521918773651, -0.5377539396286011]}, "link_3": {"xyz": [0.06137334555387497, 2.5000423192977905e-05, 0.3747378885746002], "quat_xyzw": [0.006646014284342527, 0.7070755958557129, -0.7070755958557129, 0.006645957939326763]}, "link_4": {"xyz": [0.30520233511924744, 2.498924732208252e-05, 0.439332515001297], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046781897544861, -0.4952775835990906]}, "link_5": {"xyz": [0.3460865914821625, -1.4901161193847656e-08, 0.36608821153640747], "quat_xyzw": [0.5046753287315369, 0.5046811699867249, -0.4952746629714966, -0.49528050422668457]}, "link_6": {"xyz": [0.3072572350502014, 3.999157343059778e-07, 0.33005183935165405], "quat_xyzw": [0.7070757746696472, 0.7070754170417786, 0.006651416886597872, 0.006643131375312805]}, "link_left_finger": {"xyz": [0.3475877344608307, -0.019859913736581802, 0.2702992558479309], "quat_xyzw": [0.49527478218078613, 0.5046752095222473, 0.5046812891960144, -0.495280385017395]}, "link_right_finger": {"xyz": [0.2692016065120697, 0.019861629232764244, 0.2688257396221161], "quat_xyzw": [0.49527478218078613, 0.5046752095222473, 0.5046812891960144, -0.495280385017395]}}}, {"t": 11.722000000000001, "phase": "release", "bottle_xyz": [0.2799815535545349, 0.000111443005152978, 0.20426836609840393], "bottle_quat_xyzw": [-0.0024032779037952423, -0.1374409943819046, -0.0068748281337320805, 0.9904831647872925], "bottom_z": 0.15205943820966877, "q": [4.450716062365245e-08, 1.7281620502471924, 1.746960163116455, -1.5707939863204956, -1.282466109842062e-05, 1.1008281717295176e-06, 0.017177244648337364, -0.017177755013108253], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.01108080055564642, -0.01108080055564642], "finger_forces": {"link_left_finger": [0.0012098392471671104, -0.8777220249176025, 0.38356971740722656], "link_right_finger": [-0.005380269140005112, 0.8773310780525208, 0.38077300786972046]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377539396286011, 0.4591521918773651, 0.4591521918773651, -0.5377539396286011]}, "link_3": {"xyz": [0.06137330085039139, 2.5002285838127136e-05, 0.3747378885746002], "quat_xyzw": [0.006645984016358852, 0.7070755958557129, -0.7070755958557129, 0.006646023131906986]}, "link_4": {"xyz": [0.30520230531692505, 2.5020912289619446e-05, 0.4393325448036194], "quat_xyzw": [-0.49527791142463684, 0.504677951335907, -0.504677951335907, -0.49527788162231445]}, "link_5": {"xyz": [0.3460864722728729, 2.421438694000244e-08, 0.3660881817340851], "quat_xyzw": [0.5046746730804443, 0.5046812295913696, -0.49527472257614136, -0.49528107047080994]}, "link_6": {"xyz": [0.3072570562362671, 4.729663487523794e-07, 0.33005183935165405], "quat_xyzw": [0.7070758938789368, 0.707075297832489, 0.006651404779404402, 0.006642250809818506]}, "link_left_finger": {"xyz": [0.3475874662399292, -0.0198215339332819, 0.27029916644096375], "quat_xyzw": [0.4952748715877533, 0.50467449426651, 0.504681408405304, -0.495280921459198]}, "link_right_finger": {"xyz": [0.2692013382911682, 0.019823534414172173, 0.26882582902908325], "quat_xyzw": [0.4952748715877533, 0.50467449426651, 0.504681408405304, -0.495280921459198]}}}, {"t": 11.742, "phase": "release", "bottle_xyz": [0.27997633814811707, 0.00010893416765611619, 0.204196959733963], "bottle_quat_xyzw": [-0.0023889336735010147, -0.13748180866241455, -0.006838448345661163, 0.9904778003692627], "bottom_z": 0.15198778957887657, "q": [-1.81516853103858e-07, 1.7281622886657715, 1.746959924697876, -1.5707921981811523, -1.1141580216644797e-05, 4.4269000909480383e-07, 0.01721939630806446, -0.017219915986061096], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.01160227507352829, -0.01160227507352829], "finger_forces": {"link_left_finger": [0.001253647729754448, -0.7758133411407471, 0.3788830041885376], "link_right_finger": [-0.0004207573365420103, 0.7745348811149597, 0.37464529275894165]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377539992332458, 0.45915210247039795, 0.4591521918773651, -0.5377539396286011]}, "link_3": {"xyz": [0.06137334555387497, 2.5000423192977905e-05, 0.3747378885746002], "quat_xyzw": [0.006645896937698126, 0.7070755958557129, -0.7070755958557129, 0.00664586341008544]}, "link_4": {"xyz": [0.3052023649215698, 2.499297261238098e-05, 0.4393324553966522], "quat_xyzw": [-0.4952775537967682, 0.5046783089637756, -0.5046783089637756, -0.4952775835990906]}, "link_5": {"xyz": [0.34608665108680725, -1.1175870895385742e-08, 0.3660881519317627], "quat_xyzw": [0.5046755075454712, 0.5046811103820801, -0.4952748119831085, -0.49528035521507263]}, "link_6": {"xyz": [0.3072572946548462, 3.7418794818222523e-07, 0.3300517499446869], "quat_xyzw": [0.7070757150650024, 0.7070754766464233, 0.006651261821389198, 0.006643376313149929]}, "link_left_finger": {"xyz": [0.34758779406547546, -0.019779561087489128, 0.27029916644096375], "quat_xyzw": [0.4952748417854309, 0.5046753883361816, 0.5046811699867249, -0.49528026580810547]}, "link_right_finger": {"xyz": [0.2692016661167145, 0.019781140610575676, 0.2688256502151489], "quat_xyzw": [0.4952748417854309, 0.5046753883361816, 0.5046811699867249, -0.49528026580810547]}}}, {"t": 11.762, "phase": "release", "bottle_xyz": [0.2799704968929291, 0.00010523658420424908, 0.2041124403476715], "bottle_quat_xyzw": [-0.0023927721194922924, -0.13745886087417603, -0.006796609610319138, 0.9904813170433044], "bottom_z": 0.15190340841314726, "q": [4.9287578463008686e-08, 1.728162407875061, 1.7469600439071655, -1.5707921981811523, -1.273491852771258e-05, 8.607512427261099e-07, 0.017267068848013878, -0.017267558723688126], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.012129600159823895, -0.012129600159823895], "finger_forces": {"link_left_finger": [-0.001156296581029892, -0.6732927560806274, 0.373186856508255], "link_right_finger": [-0.002068276982754469, 0.6756112575531006, 0.37055110931396484]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5377539992332458, 0.45915210247039795, 0.45915210247039795, -0.5377539992332458]}, "link_3": {"xyz": [0.06137339025735855, 2.5002285838127136e-05, 0.3747378885746002], "quat_xyzw": [0.006645828951150179, 0.7070755958557129, -0.7070755958557129, 0.006645896006375551]}, "link_4": {"xyz": [0.3052023947238922, 2.503208816051483e-05, 0.43933242559432983], "quat_xyzw": [-0.4952775537967682, 0.5046782493591309, -0.5046783089637756, -0.4952774941921234]}, "link_5": {"xyz": [0.34608668088912964, 2.7939677238464355e-08, 0.3660881221294403], "quat_xyzw": [0.5046750903129578, 0.5046815276145935, -0.4952744245529175, -0.4952806532382965]}, "link_6": {"xyz": [0.3072573244571686, 4.614266799762845e-07, 0.3300517201423645], "quat_xyzw": [0.707075834274292, 0.7070753574371338, 0.006651840638369322, 0.006642873398959637]}, "link_left_finger": {"xyz": [0.34758785367012024, -0.019731730222702026, 0.27029910683631897], "quat_xyzw": [0.49527454376220703, 0.5046749711036682, 0.5046816468238831, -0.49528053402900696]}, "link_right_finger": {"xyz": [0.26920169591903687, 0.019733702763915062, 0.26882562041282654], "quat_xyzw": [0.49527454376220703, 0.5046749711036682, 0.5046816468238831, -0.49528053402900696]}}}, {"t": 11.782, "phase": "release", "bottle_xyz": [0.27996325492858887, 0.00010375967394793406, 0.20400775969028473], "bottle_quat_xyzw": [-0.0024236540775746107, -0.13731324672698975, -0.006749167572706938, 0.9905017614364624], "bottom_z": 0.15179959827304906, "q": [-1.9012723839750834e-07, 1.7281616926193237, 1.746960163116455, -1.5707942247390747, -1.1393604836484883e-05, 5.749271849708748e-07, 0.01732112094759941, -0.017321700230240822], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.01266232505440712, -0.01266232505440712], "finger_forces": {"link_left_finger": [-6.102677434682846e-05, -0.570604145526886, 0.3760761618614197], "link_right_finger": [-0.002407444640994072, 0.5703355073928833, 0.37377291917800903]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377538800239563, 0.4591522216796875, 0.45915231108665466, -0.5377538204193115]}, "link_3": {"xyz": [0.06137324124574661, 2.4985522031784058e-05, 0.3747378885746002], "quat_xyzw": [0.00664613489061594, 0.7070755958557129, -0.7070755362510681, 0.006646091118454933]}, "link_4": {"xyz": [0.3052021265029907, 2.4966895580291748e-05, 0.43933260440826416], "quat_xyzw": [-0.49527791142463684, 0.5046780109405518, -0.504677951335907, -0.49527788162231445]}, "link_5": {"xyz": [0.346086323261261, -2.2351741790771484e-08, 0.36608824133872986], "quat_xyzw": [0.5046750903129578, 0.504680871963501, -0.49527502059936523, -0.49528077244758606]}, "link_6": {"xyz": [0.30725690722465515, 3.825844032689929e-07, 0.33005189895629883], "quat_xyzw": [0.7070757746696472, 0.7070754170417786, 0.006650938652455807, 0.006642783991992474]}, "link_left_finger": {"xyz": [0.34758734703063965, -0.019677814096212387, 0.2702992558479309], "quat_xyzw": [0.4952751100063324, 0.5046749711036682, 0.5046809911727905, -0.4952806234359741]}, "link_right_finger": {"xyz": [0.26920121908187866, 0.01967940293252468, 0.26882585883140564], "quat_xyzw": [0.4952751100063324, 0.5046749711036682, 0.5046809911727905, -0.4952806234359741]}}}, {"t": 11.802000000000001, "phase": "release", "bottle_xyz": [0.27995458245277405, 0.00010093298624269664, 0.20386745035648346], "bottle_quat_xyzw": [-0.0024454088415950537, -0.1369827836751938, -0.006689545698463917, 0.9905478358268738], "bottom_z": 0.15166126659006116, "q": [-1.9376651039237913e-07, 1.728161096572876, 1.7469606399536133, -1.5707944631576538, -1.1623179489106406e-05, 7.659256766601175e-07, 0.017381785437464714, -0.0173824243247509], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.013200000859797001, -0.013200000859797001], "finger_forces": {"link_left_finger": [-0.0008794921450316906, -0.4708617329597473, 0.3664535880088806], "link_right_finger": [-0.0014376291073858738, 0.46974289417266846, 0.3609674572944641]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.537753701210022, 0.4591524004936218, 0.4591524600982666, -0.5377536416053772]}, "link_3": {"xyz": [0.06137307733297348, 2.4985522031784058e-05, 0.3747378885746002], "quat_xyzw": [0.006646513007581234, 0.7070755362510681, -0.7070755958557129, 0.006646481808274984]}, "link_4": {"xyz": [0.3052019476890564, 2.4981796741485596e-05, 0.43933287262916565], "quat_xyzw": [-0.49527764320373535, 0.5046781301498413, -0.5046781897544861, -0.4952777028083801]}, "link_5": {"xyz": [0.34608617424964905, -2.9802322387695312e-08, 0.3660885691642761], "quat_xyzw": [0.5046752691268921, 0.5046810507774353, -0.4952748119831085, -0.49528053402900696]}, "link_6": {"xyz": [0.307256817817688, 3.8361758925020695e-07, 0.3300521969795227], "quat_xyzw": [0.707075834274292, 0.707075297832489, 0.006651217117905617, 0.006643088534474373]}, "link_left_finger": {"xyz": [0.3475872874259949, -0.01961715891957283, 0.27029961347579956], "quat_xyzw": [0.49527496099472046, 0.5046750903129578, 0.5046812295913696, -0.49528032541275024]}, "link_right_finger": {"xyz": [0.2692011594772339, 0.01961868815124035, 0.26882609724998474], "quat_xyzw": [0.49527496099472046, 0.5046750903129578, 0.5046812295913696, -0.49528032541275024]}}}, {"t": 11.822000000000001, "phase": "release", "bottle_xyz": [0.2799416780471802, 9.288367436965927e-05, 0.20361147820949554], "bottle_quat_xyzw": [-0.002415367867797613, -0.13634063303470612, -0.006574742030352354, 0.9906372427940369], "bottom_z": 0.15140918444610746, "q": [-1.0808226846847901e-07, 1.728156566619873, 1.7469661235809326, -1.570794939994812, -1.2810714906663634e-05, 1.5021516901470022e-06, 0.017450327053666115, -0.017450906336307526], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.01374217588454485, -0.01374217588454485], "finger_forces": {"link_left_finger": [-0.004030792973935604, -0.38288187980651855, 0.30756908655166626], "link_right_finger": [-0.003170287236571312, 0.3841889500617981, 0.30560654401779175]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377526879310608, 0.45915359258651733, 0.4591536819934845, -0.5377525687217712]}, "link_3": {"xyz": [0.061371900141239166, 2.5000423192977905e-05, 0.37473809719085693], "quat_xyzw": [0.006650118622928858, 0.7070754766464233, -0.7070755362510681, 0.006650044582784176]}, "link_4": {"xyz": [0.3052000403404236, 2.4978071451187134e-05, 0.43933555483818054], "quat_xyzw": [-0.49527519941329956, 0.5046805739402771, -0.5046805739402771, -0.4952752888202667]}, "link_5": {"xyz": [0.34608498215675354, -3.3527612686157227e-08, 0.36609160900115967], "quat_xyzw": [0.5046773552894592, 0.5046837329864502, -0.49527204036712646, -0.49527835845947266]}, "link_6": {"xyz": [0.30725598335266113, 4.145840648561716e-07, 0.3300548493862152], "quat_xyzw": [0.7070760130882263, 0.7070749998092651, 0.006655063480138779, 0.006646083667874336]}, "link_left_finger": {"xyz": [0.3475870192050934, -0.019548548385500908, 0.2703026533126831], "quat_xyzw": [0.4952724277973175, 0.5046770572662354, 0.5046840906143188, -0.4952780604362488]}, "link_right_finger": {"xyz": [0.2692009210586548, 0.019550343975424767, 0.26882845163345337], "quat_xyzw": [0.4952724277973175, 0.5046770572662354, 0.5046840906143188, -0.4952780604362488]}}}, {"t": 11.842, "phase": "release", "bottle_xyz": [0.2799118459224701, 7.840173202566803e-05, 0.20277710258960724], "bottle_quat_xyzw": [-0.002268208423629403, -0.13518232107162476, -0.006309655960649252, 0.9907980561256409], "bottom_z": 0.15058202611004806, "q": [-1.287531006255449e-07, 1.7281354665756226, 1.746990442276001, -1.5708006620407104, -1.2835358575102873e-05, 3.054185299333767e-06, 0.017530618235468864, -0.017530985176563263], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.014288400299847126, -0.014288400299847126], "finger_forces": {"link_left_finger": [-0.005079859402030706, -0.32406434416770935, 0.2780877649784088], "link_right_finger": [-0.004048170521855354, 0.31897595524787903, 0.25863808393478394]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5377478003501892, 0.4591592848300934, 0.45915937423706055, -0.5377477407455444]}, "link_3": {"xyz": [0.06136638671159744, 2.4985522031784058e-05, 0.3747389614582062], "quat_xyzw": [0.006666173692792654, 0.7070754170417786, -0.7070753574371338, 0.0066661108285188675]}, "link_4": {"xyz": [0.30519163608551025, 2.4966895580291748e-05, 0.439347505569458], "quat_xyzw": [-0.4952652156352997, 0.504690408706665, -0.5046903491020203, -0.4952652156352997]}, "link_5": {"xyz": [0.3460794687271118, -2.9802322387695312e-08, 0.36610519886016846], "quat_xyzw": [0.5046871304512024, 0.5046936273574829, -0.4952620267868042, -0.49526843428611755]}, "link_6": {"xyz": [0.30725187063217163, 4.204339347779751e-07, 0.3300669193267822], "quat_xyzw": [0.7070764303207397, 0.7070743441581726, 0.0066691613756120205, 0.006660028826445341]}, "link_left_finger": {"xyz": [0.3475852310657501, -0.019468294456601143, 0.27031630277633667], "quat_xyzw": [0.4952627122402191, 0.5046864151954651, 0.5046943426132202, -0.49526768922805786]}, "link_right_finger": {"xyz": [0.26919928193092346, 0.019470330327749252, 0.2688389718532562], "quat_xyzw": [0.4952627122402191, 0.5046864151954651, 0.5046943426132202, -0.49526768922805786]}}}, {"t": 11.862, "phase": "release", "bottle_xyz": [0.2798626720905304, 5.382885137805715e-05, 0.20078332722187042], "bottle_quat_xyzw": [-0.0015156470471993089, -0.13316553831100464, -0.0058101448230445385, 0.9910756349563599], "bottom_z": 0.14860142295347634, "q": [-5.853095785823825e-07, 1.728105902671814, 1.747022271156311, -1.5708117485046387, -8.259321475634351e-06, 2.697433501452906e-06, 0.01763205975294113, -0.017632225528359413], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.014838225208222866, -0.014838225208222866], "finger_forces": {"link_left_finger": [0.0008876216597855091, -0.2992284595966339, 0.2374769151210785], "link_right_finger": [0.002968790242448449, 0.29127687215805054, 0.234304279088974]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071066498756409, 0.7071070075035095]}, "link_2": {"xyz": [0.020000001415610313, 2.499297261238098e-05, 0.11400000005960464], "quat_xyzw": [0.5377411246299744, 0.45916712284088135, 0.4591674208641052, -0.5377408862113953]}, "link_3": {"xyz": [0.06135868281126022, 2.4963170289993286e-05, 0.37474021315574646], "quat_xyzw": [0.006687988992780447, 0.7070751786231995, -0.7070751786231995, 0.006687667220830917]}, "link_4": {"xyz": [0.30517998337745667, 2.4858862161636353e-05, 0.4393637180328369], "quat_xyzw": [-0.49525243043899536, 0.5047029852867126, -0.5047027468681335, -0.49525266885757446]}, "link_5": {"xyz": [0.3460715413093567, -1.5273690223693848e-07, 0.3661234676837921], "quat_xyzw": [0.5047008991241455, 0.5047048330307007, -0.4952503740787506, -0.4952547252178192]}, "link_6": {"xyz": [0.30724576115608215, 1.4726538211107254e-07, 0.3300832211971283], "quat_xyzw": [0.707076370716095, 0.7070741653442383, 0.006685306783765554, 0.006679450627416372]}, "link_left_finger": {"xyz": [0.3475821316242218, -0.019367411732673645, 0.27033472061157227], "quat_xyzw": [0.49525123834609985, 0.5047000050544739, 0.5047056674957275, -0.4952538311481476]}, "link_right_finger": {"xyz": [0.2691962718963623, 0.019368546083569527, 0.2688532769680023], "quat_xyzw": [0.49525123834609985, 0.5047000050544739, 0.5047056674957275, -0.4952538311481476]}}}, {"t": 11.882000000000001, "phase": "release", "bottle_xyz": [0.2798570692539215, 2.7057383704232052e-05, 0.19712933897972107], "bottle_quat_xyzw": [1.8681049596125376e-06, -0.12897077202796936, -0.005825502332299948, 0.9916313290596008], "bottom_z": 0.14497789450240106, "q": [-7.708522389293648e-07, 1.7280712127685547, 1.7470577955245972, -1.5708284378051758, -5.429972588899545e-06, 1.278522518077807e-06, 0.01776266284286976, -0.01776316575706005], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.01539120078086853, -0.01539120078086853], "finger_forces": {"link_left_finger": [0.00422801123932004, -0.1735212355852127, 0.14178825914859772], "link_right_finger": [0.002280434826388955, 0.18952488899230957, 0.15063592791557312]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071065306663513, 0.7071071267127991]}, "link_2": {"xyz": [0.020000001415610313, 2.498738467693329e-05, 0.11400000005960464], "quat_xyzw": [0.5377331972122192, 0.4591763913631439, 0.45917683839797974, -0.5377328395843506]}, "link_3": {"xyz": [0.061349622905254364, 2.4942681193351746e-05, 0.3747416138648987], "quat_xyzw": [0.006712950300425291, 0.7070749402046204, -0.7070748805999756, 0.006712432950735092]}, "link_4": {"xyz": [0.3051663041114807, 2.4760141968727112e-05, 0.43938225507736206], "quat_xyzw": [-0.4952388107776642, 0.5047163367271423, -0.5047159194946289, -0.49523913860321045]}, "link_5": {"xyz": [0.3460617661476135, -2.5890767574310303e-07, 0.36614421010017395], "quat_xyzw": [0.5047149062156677, 0.5047173500061035, -0.49523741006851196, -0.49524053931236267]}, "link_6": {"xyz": [0.3072378933429718, -3.434251993894577e-08, 0.3301019072532654], "quat_xyzw": [0.7070757746696472, 0.7070744037628174, 0.0067033227533102036, 0.006699399556964636]}, "link_left_finger": {"xyz": [0.3475775122642517, -0.019237108528614044, 0.27035558223724365], "quat_xyzw": [0.4952380955219269, 0.5047142505645752, 0.504718005657196, -0.49523988366127014]}, "link_right_finger": {"xyz": [0.2691916823387146, 0.019237210974097252, 0.26886987686157227], "quat_xyzw": [0.4952380955219269, 0.5047142505645752, 0.504718005657196, -0.49523988366127014]}}}, {"t": 11.902000000000001, "phase": "release", "bottle_xyz": [0.2799169719219208, 2.1180700059630908e-05, 0.19097916781902313], "bottle_quat_xyzw": [0.001801004633307457, -0.12233938276767731, -0.006347747053951025, 0.9924664497375488], "bottom_z": 0.1388840738303462, "q": [-1.058775751516805e-06, 1.7280261516571045, 1.747105598449707, -1.5708454847335815, -2.4255075459223008e-06, -9.54208076109353e-07, 0.017913656309247017, -0.01791544072329998], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.015946876257658005, -0.015946876257658005], "finger_forces": {"link_left_finger": [0.0012926640920341015, -0.10494658350944519, 0.08624191582202911], "link_right_finger": [0.004350997507572174, 0.11861281841993332, 0.09686216711997986]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071064710617065, 0.7071071863174438]}, "link_2": {"xyz": [0.020000003278255463, 2.4983659386634827e-05, 0.11400000005960464], "quat_xyzw": [0.5377229452133179, 0.45918846130371094, 0.4591890275478363, -0.5377224683761597]}, "link_3": {"xyz": [0.06133786588907242, 2.4938955903053284e-05, 0.3747434914112091], "quat_xyzw": [0.006745839491486549, 0.7070746421813965, -0.7070746421813965, 0.006745160091668367]}, "link_4": {"xyz": [0.3051486015319824, 2.4707987904548645e-05, 0.43940675258636475], "quat_xyzw": [-0.4952195882797241, 0.5047351121902466, -0.5047346353530884, -0.4952200949192047]}, "link_5": {"xyz": [0.34604960680007935, -3.334134817123413e-07, 0.36617180705070496], "quat_xyzw": [0.5047345757484436, 0.5047352910041809, -0.49521905183792114, -0.49522069096565247]}, "link_6": {"xyz": [0.3072285056114197, -2.235756255686283e-07, 0.3301265239715576], "quat_xyzw": [0.7070748209953308, 0.7070748805999756, 0.006728991400450468, 0.006727344822138548]}, "link_left_finger": {"xyz": [0.3475726544857025, -0.019086414948105812, 0.270383358001709], "quat_xyzw": [0.49521926045417786, 0.5047343969345093, 0.5047354698181152, -0.49522045254707336]}, "link_right_finger": {"xyz": [0.2691868543624878, 0.019084474071860313, 0.2688915431499481], "quat_xyzw": [0.49521926045417786, 0.5047343969345093, 0.5047354698181152, -0.49522045254707336]}}}, {"t": 11.922, "phase": "release", "bottle_xyz": [0.2800350785255432, 8.262372284661978e-05, 0.18179106712341309], "bottle_quat_xyzw": [0.0027245543897151947, -0.11371610313653946, -0.005778047256171703, 0.9934927821159363], "bottom_z": 0.12978268940752594, "q": [-2.7816774945677025e-06, 1.7279878854751587, 1.7471474409103394, -1.5708566904067993, 6.121535989223048e-06, -5.675192824128317e-06, 0.018084712326526642, -0.01808997057378292], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0165047999471426, -0.0165047999471426], "finger_forces": {"link_left_finger": [0.0025973995216190815, -0.03926616162061691, 0.03181809186935425], "link_right_finger": [-0.001982880989089608, 0.030014144256711006, 0.033213116228580475]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071058750152588, 0.7071077823638916]}, "link_2": {"xyz": [0.020000001415610313, 2.495013177394867e-05, 0.11400000005960464], "quat_xyzw": [0.5377145409584045, 0.4591982960700989, 0.4591997563838959, -0.5377132892608643]}, "link_3": {"xyz": [0.06132788211107254, 2.4845823645591736e-05, 0.37474510073661804], "quat_xyzw": [0.006774763111025095, 0.7070743441581726, -0.7070743441581726, 0.0067729162983596325]}, "link_4": {"xyz": [0.3051334023475647, 2.4205073714256287e-05, 0.43942791223526], "quat_xyzw": [-0.49520182609558105, 0.5047526359558105, -0.5047513246536255, -0.4952031373977661]}, "link_5": {"xyz": [0.34603947401046753, -8.959323167800903e-07, 0.36619579792022705], "quat_xyzw": [0.5047542452812195, 0.5047497749328613, -0.4952033460140228, -0.49520161747932434]}, "link_6": {"xyz": [0.30722084641456604, -1.016029273159802e-06, 0.3301478624343872], "quat_xyzw": [0.7070735692977905, 0.7070755958557129, 0.006750310771167278, 0.006754752714186907]}, "link_left_finger": {"xyz": [0.34756916761398315, -0.018916556611657143, 0.27040761709213257], "quat_xyzw": [0.49520328640937805, 0.5047542452812195, 0.5047496557235718, -0.49520158767700195]}, "link_right_finger": {"xyz": [0.26918336749076843, 0.018908513709902763, 0.26891008019447327], "quat_xyzw": [0.49520328640937805, 0.5047542452812195, 0.5047496557235718, -0.49520158767700195]}}}, {"t": 11.942, "phase": "release", "bottle_xyz": [0.28017595410346985, 0.00014785035455133766, 0.16900752484798431], "bottle_quat_xyzw": [0.0035541695542633533, -0.10418176651000977, -0.005466470029205084, 0.9945369362831116], "bottom_z": 0.11711318828516297, "q": [-7.854989689803915e-07, 1.7279504537582397, 1.7471909523010254, -1.5708632469177246, -5.352385869628051e-06, -1.5372429515991826e-06, 0.01827586628496647, -0.018283776938915253], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.017064524814486504, -0.017064524814486504], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071065306663513, 0.7071071267127991]}, "link_2": {"xyz": [0.020000001415610313, 2.498738467693329e-05, 0.11400000005960464], "quat_xyzw": [0.5377054810523987, 0.4592088460922241, 0.45920929312705994, -0.53770512342453]}, "link_3": {"xyz": [0.06131815165281296, 2.4942681193351746e-05, 0.3747465908527374], "quat_xyzw": [0.006802665069699287, 0.7070740461349487, -0.7070740461349487, 0.006802159361541271]}, "link_4": {"xyz": [0.30511847138404846, 2.4763867259025574e-05, 0.43944910168647766], "quat_xyzw": [-0.4951835572719574, 0.5047705769538879, -0.5047701597213745, -0.49518391489982605]}, "link_5": {"xyz": [0.34602999687194824, -2.6263296604156494e-07, 0.36621999740600586], "quat_xyzw": [0.5047692060470581, 0.5047715306282043, -0.49518218636512756, -0.4951852560043335]}, "link_6": {"xyz": [0.30721405148506165, -4.968023858964443e-08, 0.330169141292572], "quat_xyzw": [0.7070740461349487, 0.7070746421813965, 0.006780678406357765, 0.006776865106076002]}, "link_left_finger": {"xyz": [0.34756678342819214, -0.01872381567955017, 0.2704317271709442], "quat_xyzw": [0.4951821565628052, 0.5047692060470581, 0.5047714710235596, -0.4951852858066559]}, "link_right_finger": {"xyz": [0.26918116211891174, 0.018716463819146156, 0.26892879605293274], "quat_xyzw": [0.4951821565628052, 0.5047692060470581, 0.5047714710235596, -0.4951852858066559]}}}, {"t": 11.962000000000002, "phase": "release", "bottle_xyz": [0.2803173363208771, 0.00021338318765629083, 0.1523100584745407], "bottle_quat_xyzw": [0.004379610996693373, -0.09461411088705063, -0.0051673054695129395, 0.9954910278320312], "bottom_z": 0.10054858724520466, "q": [-6.046134330972563e-07, 1.7279267311096191, 1.7472187280654907, -1.5708674192428589, -8.205186531995423e-06, 2.1639435487941228e-07, 0.01849440112709999, -0.018503809347748756], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0176256000995636, -0.0176256000995636], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071065902709961, 0.7071070671081543]}, "link_2": {"xyz": [0.020000001415610313, 2.498924732208252e-05, 0.11400000005960464], "quat_xyzw": [0.5377000570297241, 0.45921531319618225, 0.4592156708240509, -0.5376997590065002]}, "link_3": {"xyz": [0.061311908066272736, 2.4974346160888672e-05, 0.3747476637363434], "quat_xyzw": [0.006820839364081621, 0.7070739269256592, -0.7070739269256592, 0.0068204388953745365]}, "link_4": {"xyz": [0.3051089644432068, 2.4840235710144043e-05, 0.4394627511501312], "quat_xyzw": [-0.49517160654067993, 0.5047821998596191, -0.5047819018363953, -0.4951718747615814]}, "link_5": {"xyz": [0.34602391719818115, -1.7881393432617188e-07, 0.366235613822937], "quat_xyzw": [0.5047801733016968, 0.5047839879989624, -0.49516957998275757, -0.49517393112182617]}, "link_6": {"xyz": [0.30720970034599304, 1.3096723705530167e-07, 0.3301829397678375], "quat_xyzw": [0.7070744633674622, 0.7070738673210144, 0.006798413582146168, 0.00679263798519969]}, "link_left_finger": {"xyz": [0.347565233707428, -0.018505003303289413, 0.27044740319252014], "quat_xyzw": [0.49516990780830383, 0.5047798156738281, 0.504784345626831, -0.4951735734939575]}, "link_right_finger": {"xyz": [0.26917973160743713, 0.018496844917535782, 0.26894086599349976], "quat_xyzw": [0.49516990780830383, 0.5047798156738281, 0.504784345626831, -0.4951735734939575]}}}, {"t": 11.982000000000001, "phase": "release", "bottle_xyz": [0.28045913577079773, 0.0002789417339954525, 0.13168691098690033], "bottle_quat_xyzw": [0.005207441747188568, -0.08503804355859756, -0.004867420997470617, 0.9963522553443909], "bottom_z": 0.08007424062008286, "q": [-5.674628482665867e-07, 1.7279155254364014, 1.747233271598816, -1.5708681344985962, -9.626620339986403e-06, 1.4874658518237993e-06, 0.01875166967511177, -0.018761835992336273], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.018187575042247772, -0.018187575042247772], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071066498756409, 0.7071070075035095]}, "link_2": {"xyz": [0.020000001415610313, 2.499297261238098e-05, 0.11400000005960464], "quat_xyzw": [0.537697434425354, 0.4592183530330658, 0.4592186212539673, -0.5376971960067749]}, "link_3": {"xyz": [0.06130901724100113, 2.4963170289993286e-05, 0.3747480809688568], "quat_xyzw": [0.006829915102571249, 0.7070738077163696, -0.7070738077163696, 0.006829605903476477]}, "link_4": {"xyz": [0.3051043450832367, 2.4858862161636353e-05, 0.43946945667266846], "quat_xyzw": [-0.49516531825065613, 0.5047883987426758, -0.5047881603240967, -0.49516555666923523]}, "link_5": {"xyz": [0.3460211455821991, -1.5273690223693848e-07, 0.3662433326244354], "quat_xyzw": [0.5047860145568848, 0.5047906041145325, -0.4951629638671875, -0.49516794085502625]}, "link_6": {"xyz": [0.30720779299736023, 2.0058359950780869e-07, 0.33018970489501953], "quat_xyzw": [0.707074761390686, 0.707073450088501, 0.006807788275182247, 0.006800999399274588]}, "link_left_finger": {"xyz": [0.34756481647491455, -0.01824761927127838, 0.27045509219169617], "quat_xyzw": [0.4951635003089905, 0.504785418510437, 0.5047911405563354, -0.4951673746109009]}, "link_right_finger": {"xyz": [0.26917940378189087, 0.018239013850688934, 0.26894664764404297], "quat_xyzw": [0.4951635003089905, 0.504785418510437, 0.5047911405563354, -0.4951673746109009]}}}, {"t": 12.002, "phase": "release", "bottle_xyz": [0.28060129284858704, 0.0003445300681050867, 0.10713767260313034], "bottle_quat_xyzw": [0.006037586368620396, -0.0754544660449028, -0.004566854797303677, 0.9971205592155457], "bottom_z": 0.05569296889675159, "q": [-3.094407645676256e-07, 1.7279103994369507, 1.7472401857376099, -1.5708692073822021, -1.1156524124089628e-05, 2.175417876060237e-06, 0.01905447244644165, -0.019064629450440407], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.01875000074505806, -0.01875000074505806], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.5376961827278137, 0.459219753742218, 0.45921993255615234, -0.5376960039138794]}, "link_3": {"xyz": [0.06130770593881607, 2.4996697902679443e-05, 0.37474825978279114], "quat_xyzw": [0.00683410931378603, 0.7070737481117249, -0.7070738077163696, 0.006833906285464764]}, "link_4": {"xyz": [0.30510225892066956, 2.4937093257904053e-05, 0.4394725561141968], "quat_xyzw": [-0.49516257643699646, 0.5047910213470459, -0.5047909617424011, -0.4951627552509308]}, "link_5": {"xyz": [0.3460198640823364, -8.195638656616211e-08, 0.36624687910079956], "quat_xyzw": [0.5047882795333862, 0.5047937035560608, -0.4951598346233368, -0.49516546726226807]}, "link_6": {"xyz": [0.307206928730011, 3.210734575986862e-07, 0.33019283413887024], "quat_xyzw": [0.7070748805999756, 0.7070732116699219, 0.006812190171331167, 0.006804360076785088]}, "link_left_finger": {"xyz": [0.34756460785865784, -0.017944620922207832, 0.2704586386680603], "quat_xyzw": [0.49516046047210693, 0.5047876238822937, 0.5047943592071533, -0.4951648414134979]}, "link_right_finger": {"xyz": [0.26917922496795654, 0.017936451360583305, 0.26894938945770264], "quat_xyzw": [0.49516046047210693, 0.5047876238822937, 0.5047943592071533, -0.4951648414134979]}}}, {"t": 12.022, "phase": "release", "bottle_xyz": [0.280743807554245, 0.00041015175520442426, 0.07866200059652328], "bottle_quat_xyzw": [0.006870016921311617, -0.06586472690105438, -0.004265651572495699, 0.997795820236206], "bottom_z": 0.02740435597200363, "q": [-3.5389615504755056e-07, 1.7279075384140015, 1.7472440004348755, -1.5708696842193604, -1.1561285646166652e-05, 2.562180952736526e-06, 0.019405297935009003, -0.01941494643688202], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.019312426447868347, -0.019312426447868347], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067094802856, 0.7071069478988647]}, "link_2": {"xyz": [0.020000001415610313, 2.4996697902679443e-05, 0.11400000005960464], "quat_xyzw": [0.537695586681366, 0.4592205882072449, 0.4592207670211792, -0.5376954078674316]}, "link_3": {"xyz": [0.06130688637495041, 2.4981796741485596e-05, 0.37474846839904785], "quat_xyzw": [0.006836484652012587, 0.7070737481117249, -0.7070737481117249, 0.0068363104946911335]}, "link_4": {"xyz": [0.3051010072231293, 2.4925917387008667e-05, 0.4394744038581848], "quat_xyzw": [-0.4951610267162323, 0.5047926306724548, -0.5047924518585205, -0.49516114592552185]}, "link_5": {"xyz": [0.34601908922195435, -7.82310962677002e-08, 0.3662489652633667], "quat_xyzw": [0.5047897100448608, 0.5047954320907593, -0.4951581656932831, -0.49516403675079346]}, "link_6": {"xyz": [0.3072063624858856, 3.3320975489914417e-07, 0.3301946818828583], "quat_xyzw": [0.7070749998092651, 0.7070730924606323, 0.006814583670347929, 0.006806384772062302]}, "link_left_finger": {"xyz": [0.3475643992424011, -0.017593776807188988, 0.27046075463294983], "quat_xyzw": [0.495158851146698, 0.5047889947891235, 0.5047961473464966, -0.49516332149505615]}, "link_right_finger": {"xyz": [0.2691790461540222, 0.01758619397878647, 0.2689509987831116], "quat_xyzw": [0.495158851146698, 0.5047889947891235, 0.5047961473464966, -0.49516332149505615]}}}, {"t": 12.042000000000002, "phase": "release", "bottle_xyz": [0.2809861898422241, 0.00048741427599452436, 0.0479634553194046], "bottle_quat_xyzw": [0.007091679610311985, -0.05220368504524231, -0.0038808572571724653, 0.9986037611961365], "bottom_z": -0.002993457553838272, "q": [-1.1502565655518993e-07, 1.7279067039489746, 1.74724543094635, -1.5708696842193604, -1.254162907571299e-05, 2.6525167413637973e-06, 0.019803453236818314, -0.019812198355793953], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.01987440139055252, -0.01987440139055252], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.6129426956176758, 0.0543697327375412, 31.79685401916504], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5376953482627869, 0.459220826625824, 0.45922088623046875, -0.5376952886581421]}, "link_3": {"xyz": [0.06130672246217728, 2.5000423192977905e-05, 0.37474846839904785], "quat_xyzw": [0.006837156135588884, 0.7070737481117249, -0.7070737481117249, 0.0068371109664440155]}, "link_4": {"xyz": [0.3051007091999054, 2.498924732208252e-05, 0.4394749402999878], "quat_xyzw": [-0.4951605498790741, 0.504793107509613, -0.5047930479049683, -0.4951605796813965]}, "link_5": {"xyz": [0.3460189402103424, -7.450580596923828e-09, 0.36624959111213684], "quat_xyzw": [0.5047898888587952, 0.5047962665557861, -0.4951574504375458, -0.4951637089252472]}, "link_6": {"xyz": [0.30720627307891846, 4.3603358790278435e-07, 0.33019521832466125], "quat_xyzw": [0.7070749402046204, 0.7070731520652771, 0.006815666798502207, 0.006806749850511551]}, "link_left_finger": {"xyz": [0.3475644290447235, -0.017195450142025948, 0.2704613506793976], "quat_xyzw": [0.49515804648399353, 0.5047892928123474, 0.5047968626022339, -0.49516308307647705]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.017189104110002518, 0.2689514756202698], "quat_xyzw": [0.49515804648399353, 0.5047892928123474, 0.5047968626022339, -0.49516308307647705]}}}, {"t": 12.062000000000001, "phase": "release", "bottle_xyz": [0.2853860557079315, 0.0010582051472738385, 0.0527428537607193], "bottle_quat_xyzw": [0.0012252003652974963, -0.008300579153001308, -0.0038813187275081873, 0.999957263469696], "bottom_z": 0.0030229663245829527, "q": [-1.3138487986452674e-07, 1.727906346321106, 1.7472457885742188, -1.5708694458007812, -1.2691727533820085e-05, 2.6766981591208605e-06, 0.020245753228664398, -0.020253336057066917], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.020435476675629616, -0.020435476675629616], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5376952290534973, 0.45922088623046875, 0.4592209756374359, -0.5376951694488525]}, "link_3": {"xyz": [0.06130664795637131, 2.4985522031784058e-05, 0.37474843859672546], "quat_xyzw": [0.006837399210780859, 0.7070737481117249, -0.7070737481117249, 0.0068373712711036205]}, "link_4": {"xyz": [0.30510058999061584, 2.4985522031784058e-05, 0.43947505950927734], "quat_xyzw": [-0.4951603412628174, 0.5047932863235474, -0.5047932863235474, -0.4951603412628174]}, "link_5": {"xyz": [0.34601888060569763, -1.862645149230957e-08, 0.3662497401237488], "quat_xyzw": [0.5047901272773743, 0.5047965049743652, -0.4951572120189667, -0.4951634705066681]}, "link_6": {"xyz": [0.30720627307891846, 4.2356259655207396e-07, 0.3301953375339508], "quat_xyzw": [0.7070749402046204, 0.7070730924606323, 0.0068160174414515495, 0.00680706650018692]}, "link_left_finger": {"xyz": [0.3475644588470459, -0.016753152012825012, 0.2704614996910095], "quat_xyzw": [0.49515780806541443, 0.5047894716262817, 0.504797101020813, -0.49516281485557556]}, "link_right_finger": {"xyz": [0.269179105758667, 0.016747957095503807, 0.26895156502723694], "quat_xyzw": [0.49515780806541443, 0.5047894716262817, 0.504797101020813, -0.49516281485557556]}}}, {"t": 12.082, "phase": "release", "bottle_xyz": [0.28990843892097473, 0.001645220909267664, 0.05459008738398552], "bottle_quat_xyzw": [-0.004802483133971691, 0.036767926067113876, -0.003881577169522643, 0.9993047714233398], "bottom_z": 0.004023657604922161, "q": [-1.0405218375808545e-07, 1.727906346321106, 1.7472457885742188, -1.5708694458007812, -1.2875945685664192e-05, 2.536792180762859e-06, 0.020727278664708138, -0.020733565092086792], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.02099520154297352, -0.02099520154297352], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5376952290534973, 0.45922088623046875, 0.4592209756374359, -0.5376951694488525]}, "link_3": {"xyz": [0.06130664795637131, 2.4985522031784058e-05, 0.37474843859672546], "quat_xyzw": [0.006837399210780859, 0.7070737481117249, -0.7070737481117249, 0.0068373712711036205]}, "link_4": {"xyz": [0.30510058999061584, 2.4985522031784058e-05, 0.43947505950927734], "quat_xyzw": [-0.4951603412628174, 0.5047932863235474, -0.5047932863235474, -0.4951603412628174]}, "link_5": {"xyz": [0.34601888060569763, -1.862645149230957e-08, 0.3662497401237488], "quat_xyzw": [0.5047900080680847, 0.50479656457901, -0.4951571524143219, -0.49516353011131287]}, "link_6": {"xyz": [0.30720627307891846, 4.31100488640368e-07, 0.3301953375339508], "quat_xyzw": [0.7070748805999756, 0.7070732116699219, 0.00681609520688653, 0.006806953344494104]}, "link_left_finger": {"xyz": [0.3475644886493683, -0.016271598637104034, 0.2704614996910095], "quat_xyzw": [0.49515771865844727, 0.5047894716262817, 0.504797101020813, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.269179105758667, 0.016267744824290276, 0.26895153522491455], "quat_xyzw": [0.49515771865844727, 0.5047894716262817, 0.504797101020813, -0.4951629936695099]}}}, {"t": 12.102, "phase": "release", "bottle_xyz": [0.29442688822746277, 0.0022317355033010244, 0.05246405303478241], "bottle_quat_xyzw": [-0.010817510075867176, 0.08173581212759018, -0.0038738001603633165, 0.9965878129005432], "bottom_z": 0.0008988768297215899, "q": [-9.586473481704161e-08, 1.727906346321106, 1.7472457885742188, -1.5708694458007812, -1.2909803444927093e-05, 2.345614575460786e-06, 0.021242057904601097, -0.02124704234302044], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.021553125232458115, -0.021553125232458115], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, 0.0, 0.0], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071067690849304, 0.70710688829422]}, "link_2": {"xyz": [0.020000001415610313, 2.5000423192977905e-05, 0.11400000005960464], "quat_xyzw": [0.5376952290534973, 0.45922088623046875, 0.4592209756374359, -0.5376951694488525]}, "link_3": {"xyz": [0.06130664795637131, 2.4985522031784058e-05, 0.37474843859672546], "quat_xyzw": [0.006837399210780859, 0.7070737481117249, -0.7070737481117249, 0.0068373712711036205]}, "link_4": {"xyz": [0.30510058999061584, 2.4985522031784058e-05, 0.43947505950927734], "quat_xyzw": [-0.4951603412628174, 0.5047932863235474, -0.5047932863235474, -0.4951603412628174]}, "link_5": {"xyz": [0.34601888060569763, -1.862645149230957e-08, 0.3662497401237488], "quat_xyzw": [0.5047900080680847, 0.50479656457901, -0.4951571524143219, -0.49516353011131287]}, "link_6": {"xyz": [0.30720627307891846, 4.312169039621949e-07, 0.3301953375339508], "quat_xyzw": [0.7070748209953308, 0.7070732712745667, 0.006816091015934944, 0.006806953344494104]}, "link_left_finger": {"xyz": [0.3475644886493683, -0.015756819397211075, 0.2704614996910095], "quat_xyzw": [0.4951576590538025, 0.5047895312309265, 0.504797101020813, -0.4951630234718323]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.01575426757335663, 0.26895153522491455], "quat_xyzw": [0.4951576590538025, 0.5047895312309265, 0.504797101020813, -0.4951630234718323]}}}, {"t": 12.122000000000002, "phase": "release", "bottle_xyz": [0.2986922860145569, 0.0027856738306581974, 0.05005545914173126], "bottle_quat_xyzw": [-0.016384964808821678, 0.1233333945274353, -0.00385954137891531, 0.9922225475311279], "bottom_z": -0.0020558591272725954, "q": [1.6128288038430583e-08, 1.7279058694839478, 1.747246503829956, -1.5708690881729126, -1.3225346265244298e-05, 2.0495353965088725e-06, 0.021783623844385147, -0.021787384524941444], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.02210880070924759, -0.02210880070924759], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.10418226569890976, -0.013040117919445038, 2.0634732246398926], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.5376951098442078, 0.4592210650444031, 0.4592210650444031, -0.5376951098442078]}, "link_3": {"xyz": [0.06130651384592056, 2.5002285838127136e-05, 0.37474846839904785], "quat_xyzw": [0.006837785243988037, 0.7070736885070801, -0.7070737481117249, 0.006837845779955387]}, "link_4": {"xyz": [0.30510035157203674, 2.503208816051483e-05, 0.4394753873348236], "quat_xyzw": [-0.49515992403030396, 0.504793643951416, -0.5047937035560608, -0.49515992403030396]}, "link_5": {"xyz": [0.3460187315940857, 2.7939677238464355e-08, 0.3662501573562622], "quat_xyzw": [0.5047903656959534, 0.5047970414161682, -0.49515673518180847, -0.4951631724834442]}, "link_6": {"xyz": [0.3072061836719513, 4.793109837919474e-07, 0.33019566535949707], "quat_xyzw": [0.7070746421813965, 0.7070733904838562, 0.006816732231527567, 0.0068074436858296394]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.015215171501040459, 0.27046194672584534], "quat_xyzw": [0.4951570928096771, 0.5047899484634399, 0.5047973990440369, -0.4951627850532532]}, "link_right_finger": {"xyz": [0.2691791355609894, 0.015213951468467712, 0.2689518332481384], "quat_xyzw": [0.4951570928096771, 0.5047899484634399, 0.5047973990440369, -0.4951627850532532]}}}, {"t": 12.142000000000001, "phase": "release", "bottle_xyz": [0.3024623394012451, 0.003275833558291197, 0.05144999921321869], "bottle_quat_xyzw": [-0.021232744678854942, 0.15951566398143768, -0.003842695616185665, 0.9869595766067505], "bottom_z": -0.0008349253073444141, "q": [-2.1330670563202148e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3128184946253896e-05, 1.6912982800931786e-06, 0.022345518693327904, -0.02234812267124653], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.02266177535057068, -0.02266177535057068], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0003660817164927721, 6.090977694839239e-05, 0.03527165949344635], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.504797101020813, -0.4951566755771637, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.756439011543989e-07, 0.3301957845687866], "quat_xyzw": [0.7070745229721069, 0.7070735096931458, 0.006816829554736614, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.014653263613581657, 0.2704620957374573], "quat_xyzw": [0.4951569437980652, 0.5047901272773743, 0.5047973990440369, -0.4951627850532532]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.014653204008936882, 0.2689518928527832], "quat_xyzw": [0.4951569437980652, 0.5047901272773743, 0.5047973990440369, -0.4951627850532532]}}}, {"t": 12.162, "phase": "release", "bottle_xyz": [0.3062298893928528, 0.003765660570934415, 0.04990708827972412], "bottle_quat_xyzw": [-0.026052484288811684, 0.19548839330673218, -0.0038200849667191505, 0.9803524613380432], "bottom_z": -0.0022669826123814657, "q": [-3.3828658985157745e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3077617950330023e-05, 1.4521482398777152e-06, 0.02292151190340519, -0.022923100739717484], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.02321160025894642, -0.02321160025894642], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.05620940402150154, 0.007130863144993782, 1.6873726844787598], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.504797101020813, -0.4951566755771637, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.760804586112499e-07, 0.3301957845687866], "quat_xyzw": [0.7070744633674622, 0.7070735692977905, 0.006816816981881857, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475644886493683, -0.014077262952923775, 0.2704620659351349], "quat_xyzw": [0.4951569139957428, 0.5047901272773743, 0.5047973394393921, -0.49516281485557556]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.01407822035253048, 0.2689518928527832], "quat_xyzw": [0.4951569139957428, 0.5047901272773743, 0.5047973394393921, -0.49516281485557556]}}}, {"t": 12.182, "phase": "release", "bottle_xyz": [0.3102305829524994, 0.0042856596410274506, 0.05004245415329933], "bottle_quat_xyzw": [-0.031177908182144165, 0.2337542623281479, -0.003791071241721511, 0.9717883467674255], "bottom_z": -0.0016975152519157141, "q": [-1.9667572459525218e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3048445907770656e-05, 1.1797659453804954e-06, 0.02350589446723461, -0.023506635800004005], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.023757826536893845, -0.023757826536893845], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.027298832312226295, 0.003466568188741803, 0.3814079463481903], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.78263245895505e-07, 0.3301957845687866], "quat_xyzw": [0.7070743441581726, 0.7070736289024353, 0.006816755514591932, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475644886493683, -0.013492872938513756, 0.2704620957374573], "quat_xyzw": [0.495156854391098, 0.504790186882019, 0.5047972202301025, -0.49516287446022034]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.013494668528437614, 0.2689519226551056], "quat_xyzw": [0.495156854391098, 0.504790186882019, 0.5047972202301025, -0.49516287446022034]}}}, {"t": 12.202000000000002, "phase": "release", "bottle_xyz": [0.31443119049072266, 0.0048315320163965225, 0.0488896481692791], "bottle_quat_xyzw": [-0.036563169211149216, 0.27396631240844727, -0.0037536362651735544, 0.9610366821289062], "bottom_z": -0.0020357740462190327, "q": [-7.992017714286703e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3029158253630158e-05, 8.887337230589765e-07, 0.024093585088849068, -0.024093681946396828], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.024300001561641693, -0.024300001561641693], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.09616196155548096, 0.012383993715047836, 0.7835628986358643], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.778557922691107e-07, 0.3301957845687866], "quat_xyzw": [0.7070742249488831, 0.7070737481117249, 0.0068167634308338165, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.012905165553092957, 0.2704620957374573], "quat_xyzw": [0.49515676498413086, 0.5047903060913086, 0.5047971606254578, -0.4951629638671875]}, "link_right_finger": {"xyz": [0.269179105758667, 0.012907607480883598, 0.2689519226551056], "quat_xyzw": [0.49515676498413086, 0.5047903060913086, 0.5047971606254578, -0.4951629638671875]}}}, {"t": 12.222000000000001, "phase": "release", "bottle_xyz": [0.31918975710868835, 0.0054497020319104195, 0.04757886007428169], "bottle_quat_xyzw": [-0.04272231459617615, 0.3199706971645355, -0.0037014808040112257, 0.9464564919471741], "bottom_z": -0.0019540099636179697, "q": [-1.7036666521974553e-10, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3038495126238558e-05, 6.701140478071466e-07, 0.024680281057953835, -0.024679895490407944], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.024837676435709, -0.024837676435709], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.12187106907367706, 0.01595180667936802, 0.6804296374320984], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.781759344041348e-07, 0.3301957845687866], "quat_xyzw": [0.7070741653442383, 0.7070738077163696, 0.00681675411760807, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.012318463996052742, 0.27046212553977966], "quat_xyzw": [0.49515673518180847, 0.5047903060913086, 0.504797101020813, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.012321388348937035, 0.2689519226551056], "quat_xyzw": [0.49515673518180847, 0.5047903060913086, 0.504797101020813, -0.4951629936695099]}}}, {"t": 12.242, "phase": "release", "bottle_xyz": [0.3245847523212433, 0.006150319706648588, 0.04558029770851135], "bottle_quat_xyzw": [-0.04981309548020363, 0.3729490637779236, -0.0036277829203754663, 0.9265066385269165], "bottom_z": -0.0017236002246753604, "q": [9.091113639669857e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3021932318224572e-05, 4.363489551906241e-07, 0.025262469425797462, -0.02526174858212471], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.02537040039896965, -0.02537040039896965], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.11394183337688446, 0.01476981583982706, 0.4926639199256897], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.786124918609858e-07, 0.330195814371109], "quat_xyzw": [0.7070741057395935, 0.7070739269256592, 0.0068167420104146, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.011736273765563965, 0.27046215534210205], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.49516308307647705]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.01173953153192997, 0.2689518928527832], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.49516308307647705]}}}, {"t": 12.262, "phase": "release", "bottle_xyz": [0.33065342903137207, 0.006938259117305279, 0.0421469509601593], "bottle_quat_xyzw": [-0.05806542560458183, 0.4346175491809845, -0.003523761173710227, 0.8987345099449158], "bottom_z": -0.0016914551420222634, "q": [1.6037443373306814e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3008017049287446e-05, 2.951516933080711e-07, 0.025837356224656105, -0.025836434215307236], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.02589772641658783, -0.02589772641658783], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.1779865324497223, 0.022964583709836006, 0.5938236713409424], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.783796612173319e-07, 0.330195814371109], "quat_xyzw": [0.7070740461349487, 0.707073986530304, 0.0068167466670274734, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.01116136647760868, 0.27046212553977966], "quat_xyzw": [0.4951566457748413, 0.5047904253005981, 0.5047969818115234, -0.49516311287879944]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.011164829134941101, 0.2689518928527832], "quat_xyzw": [0.4951566457748413, 0.5047904253005981, 0.5047969818115234, -0.49516311287879944]}}}, {"t": 12.282000000000002, "phase": "release", "bottle_xyz": [0.33751046657562256, 0.007828346453607082, 0.03721902146935463], "bottle_quat_xyzw": [-0.06795072555541992, 0.5085033178329468, -0.0033702903892844915, 0.8583680987358093], "bottom_z": -0.0015468881416869848, "q": [1.9494454051027788e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3004168067709543e-05, 1.6584739626068767e-07, 0.026402806863188744, -0.026401830837130547], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.026419201865792274, -0.026419201865792274], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.06871788203716278, 0.008959989063441753, 0.30796128511428833], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.780595190823078e-07, 0.330195814371109], "quat_xyzw": [0.707073986530304, 0.7070740461349487, 0.006816753651946783, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.010595925152301788, 0.27046212553977966], "quat_xyzw": [0.4951566159725189, 0.5047904849052429, 0.5047969818115234, -0.4951631724834442]}, "link_right_finger": {"xyz": [0.2691790461540222, 0.01059943437576294, 0.2689518928527832], "quat_xyzw": [0.4951566159725189, 0.5047904849052429, 0.5047969818115234, -0.4951631724834442]}}}, {"t": 12.302000000000001, "phase": "release", "bottle_xyz": [0.34458860754966736, 0.008747064508497715, 0.029620569199323654], "bottle_quat_xyzw": [-0.0792861357331276, 0.5932347178459167, -0.003149414202198386, 0.8011094927787781], "bottom_z": -0.0015716291604746108, "q": [1.4054406527463925e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2952716133440845e-05, 1.4041932061559237e-09, 0.026957344263792038, -0.026956399902701378], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.02693437598645687, -0.02693437598645687], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.03953490033745766, -0.005121959839016199, 0.1991519033908844], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7439243644475937e-07, 0.3301957845687866], "quat_xyzw": [0.7070739269256592, 0.7070741057395935, 0.006816724315285683, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.010041387751698494, 0.27046212553977966], "quat_xyzw": [0.49515658617019653, 0.5047906041145325, 0.5047969222068787, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.010044850409030914, 0.26895180344581604], "quat_xyzw": [0.49515658617019653, 0.5047906041145325, 0.5047969222068787, -0.4951631426811218]}}}, {"t": 12.322000000000001, "phase": "release", "bottle_xyz": [0.3511824905872345, 0.009603016078472137, 0.018843337893486023], "bottle_quat_xyzw": [-0.09210769832134247, 0.6890737414360046, -0.002829040167853236, 0.7188085317611694], "bottom_z": -0.0012228637042078529, "q": [1.7147408826190258e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2946898095833603e-05, -5.100645594779962e-08, 0.02749994769692421, -0.027499105781316757], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.027442801743745804, -0.027442801743745804], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.32021790742874146, -0.041779447346925735, 0.8868137001991272], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.747707862406969e-07, 0.3301957845687866], "quat_xyzw": [0.7070739269256592, 0.7070741057395935, 0.006816714536398649, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.009498780593276024, 0.2704620957374573], "quat_xyzw": [0.49515658617019653, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.009502137079834938, 0.2689518332481384], "quat_xyzw": [0.49515658617019653, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.342, "phase": "release", "bottle_xyz": [0.3546203672885895, 0.010049511678516865, 0.020106200128793716], "bottle_quat_xyzw": [-0.10033480823040009, 0.7505212426185608, -0.0025822026655077934, 0.6531800031661987], "bottom_z": -0.0014143397848165075, "q": [1.928219717228785e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2962164873897564e-05, -7.822654879419133e-08, 0.028030026704072952, -0.028029320761561394], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.02794402651488781, -0.02794402651488781], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.09065666049718857, -0.011688688769936562, 0.2860266864299774], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.738103598356247e-07, 0.3301957845687866], "quat_xyzw": [0.7070739269256592, 0.7070741057395935, 0.006816739682108164, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.008968707174062729, 0.27046215534210205], "quat_xyzw": [0.49515658617019653, 0.5047906041145325, 0.5047969222068787, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.008971929550170898, 0.26895180344581604], "quat_xyzw": [0.49515658617019653, 0.5047906041145325, 0.5047969222068787, -0.4951631426811218]}}}, {"t": 12.362, "phase": "release", "bottle_xyz": [0.3566458225250244, 0.010312827304005623, 0.023687144741415977], "bottle_quat_xyzw": [-0.10386711359024048, 0.7768558859825134, -0.0024674658197909594, 0.6210479736328125], "bottom_z": -0.0016562137336095795, "q": [2.0371635045535186e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2953173609275836e-05, -1.193778871311224e-07, 0.028547292575240135, -0.028546754270792007], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.028437601402401924, -0.028437601402401924], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.144621804356575, -0.018730593845248222, 0.25629591941833496], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7404319047927856e-07, 0.33019575476646423], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.006816732231527567, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.008451443165540695, 0.27046215534210205], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.008454486727714539, 0.2689518332481384], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.382000000000001, "phase": "release", "bottle_xyz": [0.35793718695640564, 0.010480980388820171, 0.025003520771861076], "bottle_quat_xyzw": [-0.1052560955286026, 0.7871684432029724, -0.0024258478078991175, 0.6076850891113281], "bottom_z": -0.0018437224396823763, "q": [2.203797500044402e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2952035831403919e-05, -1.320289158002197e-07, 0.029051708057522774, -0.029051335528492928], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.028923075646162033, -0.028923075646162033], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.18186797201633453, -0.023595105856657028, 0.32165542244911194], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7413050197064877e-07, 0.33019575476646423], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.00681672990322113, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.007947016507387161, 0.27046215534210205], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.00794990360736847, 0.2689518332481384], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.402000000000001, "phase": "release", "bottle_xyz": [0.35840266942977905, 0.010542054660618305, 0.02425432950258255], "bottle_quat_xyzw": [-0.10448406636714935, 0.7813344597816467, -0.002467439277097583, 0.6152995824813843], "bottom_z": -0.0017420349390403732, "q": [2.230560980365226e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2948118637723383e-05, -1.3808460153086344e-07, 0.029543379321694374, -0.029543152078986168], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.029400000348687172, -0.029400000348687172], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.16503788530826569, -0.021393312141299248, 0.28657767176628113], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.741596058011055e-07, 0.33019575476646423], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.006816728971898556, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.007455345243215561, 0.27046215534210205], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.00745808333158493, 0.2689518332481384], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.422, "phase": "release", "bottle_xyz": [0.35808858275413513, 0.010502083227038383, 0.021315857768058777], "bottle_quat_xyzw": [-0.10155762732028961, 0.7594055533409119, -0.002587950322777033, 0.6426371932029724], "bottom_z": -0.0014914762369450177, "q": [2.102565233030873e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2959134437551256e-05, -1.378059977241719e-07, 0.030022528022527695, -0.030022408813238144], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.029867926612496376, -0.029867926612496376], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.15522435307502747, -0.02012118697166443, 0.2642159163951874], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.741596058011055e-07, 0.33019575476646423], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.006816728971898556, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.0069761984050273895, 0.27046215534210205], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.006978832185268402, 0.2689518332481384], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.442, "phase": "release", "bottle_xyz": [0.35659265518188477, 0.010308880358934402, 0.01741311140358448], "bottle_quat_xyzw": [-0.09588915854692459, 0.7169772386550903, -0.0027928303461521864, 0.6904644966125488], "bottom_z": -0.0018862668245456134, "q": [1.999289622744982e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2966899703314994e-05, -1.3308033430803334e-07, 0.030489351600408554, -0.030489331111311913], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.030326401814818382, -0.030326401814818382], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.665544331073761, -0.08637626469135284, 3.2465109825134277], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7413050197064877e-07, 0.33019575476646423], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.00681672990322113, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.006509382277727127, 0.27046215534210205], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.006511911749839783, 0.26895177364349365], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.462000000000002, "phase": "release", "bottle_xyz": [0.35456159710884094, 0.010046239010989666, 0.020205596461892128], "bottle_quat_xyzw": [-0.09092274308204651, 0.679759681224823, -0.002956715179607272, 0.7277712821960449], "bottom_z": -0.0010690465805863227, "q": [2.2227807150443368e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2969871022505686e-05, -1.270141893883192e-07, 0.030944036319851875, -0.030944108963012695], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.030774977058172226, -0.030774977058172226], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.08935952931642532, 0.011793866753578186, 0.21110720932483673], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7408684622496367e-07, 0.33019575476646423], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.006816730834543705, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.00605468824505806, 0.2704622149467468], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.006057135760784149, 0.26895177364349365], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.482000000000001, "phase": "release", "bottle_xyz": [0.3536098301410675, 0.009923472069203854, 0.02169826067984104], "bottle_quat_xyzw": [-0.08891134709119797, 0.6646395921707153, -0.0030264852102845907, 0.7418490052223206], "bottom_z": -0.001478908174500592, "q": [2.060187753727405e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974676792509854e-05, -1.201145920504132e-07, 0.03138677403330803, -0.03138689696788788], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.031213201582431793, -0.031213201582431793], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.08563879877328873, 0.01106211543083191, 0.2617451846599579], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7404319047927856e-07, 0.33019575476646423], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.006816732231527567, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.005611952394247055, 0.27046215534210205], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.005614347755908966, 0.26895177364349365], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.502, "phase": "release", "bottle_xyz": [0.35368916392326355, 0.009934370405972004, 0.02108168601989746], "bottle_quat_xyzw": [-0.08950405567884445, 0.6689832806587219, -0.0030235794838517904, 0.7378626465797424], "bottom_z": -0.0015562893007974171, "q": [1.871942068021326e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2984783097635955e-05, -1.1507515296216297e-07, 0.03181760385632515, -0.03181776404380798], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03164062649011612, -0.03164062649011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.22511492669582367, 0.029205819591879845, 0.44706833362579346], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7399953473359346e-07, 0.33019575476646423], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.0068167331628501415, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.005181122571229935, 0.2704622149467468], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.005183473229408264, 0.26895177364349365], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.522, "phase": "release", "bottle_xyz": [0.35497215390205383, 0.010101284831762314, 0.01858716644346714], "bottle_quat_xyzw": [-0.09280073642730713, 0.6935328245162964, -0.0029412934090942144, 0.714417040348053], "bottom_z": -0.0008877045703641791, "q": [1.8921499034263434e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2973178854736034e-05, -1.1214034856266153e-07, 0.03223651275038719, -0.03223671019077301], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03205680102109909, -0.03205680102109909], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.18631206452846527, 0.024166671559214592, 0.5224739909172058], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.739849828183651e-07, 0.33019575476646423], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.006816733628511429, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.0047622136771678925, 0.2704622149467468], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.004764527082443237, 0.26895177364349365], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.542000000000002, "phase": "release", "bottle_xyz": [0.3563210666179657, 0.010276775807142258, 0.01807400770485401], "bottle_quat_xyzw": [-0.09623583406209946, 0.7191101908683777, -0.0028458768501877785, 0.6881940960884094], "bottom_z": -0.0013309060051667834, "q": [1.9591025690601782e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.296999653277453e-05, -1.1125342069817634e-07, 0.032643500715494156, -0.03264373540878296], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03246127814054489, -0.03246127814054489], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.10680039972066879, -0.013683767057955265, 0.6091823577880859], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.739849828183651e-07, 0.33019575476646423], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.006816733628511429, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.004355225712060928, 0.2704622149467468], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.004357501864433289, 0.26895177364349365], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.562000000000001, "phase": "release", "bottle_xyz": [0.35702839493751526, 0.010369094088673592, 0.01843434013426304], "bottle_quat_xyzw": [-0.09788394719362259, 0.7313357591629028, -0.002802877686917782, 0.6749510765075684], "bottom_z": -0.0015657720973195136, "q": [2.1843158393153317e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2972645890840795e-05, -1.1392146603839137e-07, 0.033038463443517685, -0.03303873538970947], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03285359963774681, -0.03285359963774681], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.09305205941200256, -0.012003711424767971, 0.4579518139362335], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7399953473359346e-07, 0.33019575476646423], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.0068167331628501415, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.003960262984037399, 0.2704622149467468], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.003962501883506775, 0.26895177364349365], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.582, "phase": "release", "bottle_xyz": [0.3569823205471039, 0.010363743640482426, 0.018297899514436722], "bottle_quat_xyzw": [-0.09766022115945816, 0.7295827269554138, -0.0028230345342308283, 0.6768779158592224], "bottom_z": -0.0016178039549694968, "q": [2.1643002057203375e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.296501523029292e-05, -1.2030693596898345e-07, 0.033421117812395096, -0.03342143073678017], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03323332592844963, -0.03323332592844963], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.13497476279735565, -0.017851902171969414, 0.6077588200569153], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7404319047927856e-07, 0.33019575476646423], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.006816732231527567, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.0035776086151599884, 0.2704622149467468], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.0035798102617263794, 0.26895177364349365], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.602, "phase": "release", "bottle_xyz": [0.35617655515670776, 0.010259927250444889, 0.017901943996548653], "bottle_quat_xyzw": [-0.09560924023389816, 0.7141844630241394, -0.0029043247923254967, 0.6933909058570862], "bottom_z": -0.0012594162016230127, "q": [2.242962615639499e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.296573373110732e-05, -1.3015294086926588e-07, 0.033791184425354004, -0.03379152715206146], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03360000252723694, -0.03360000252723694], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.1321989893913269, -0.016883686184883118, 0.8019489049911499], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7410139814019203e-07, 0.33019575476646423], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.006816730368882418, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.003207545727491379, 0.2704622149467468], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.003209717571735382, 0.26895177364349365], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.622000000000002, "phase": "release", "bottle_xyz": [0.3551819920539856, 0.01013160590082407, 0.01821066625416279], "bottle_quat_xyzw": [-0.0931236743927002, 0.6955365538597107, -0.002996079158037901, 0.7124240398406982], "bottom_z": -0.000996059791505622, "q": [2.1270768257863892e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2977882761333603e-05, -1.444530823846435e-07, 0.03414832428097725, -0.0341486781835556], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03395317494869232, -0.03395317494869232], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.3552221655845642, 0.04662264883518219, 1.0166206359863281], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7418870963156223e-07, 0.33019575476646423], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.006816728040575981, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.002850402146577835, 0.2704622149467468], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.0028525665402412415, 0.26895177364349365], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.642000000000001, "phase": "release", "bottle_xyz": [0.3552345633506775, 0.010139018297195435, 0.018346093595027924], "bottle_quat_xyzw": [-0.09343325346708298, 0.6977617740631104, -0.0029982984997332096, 0.7102040648460388], "bottom_z": -0.0005622080789036456, "q": [1.8895315534450674e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2989499737159349e-05, -1.602929131649944e-07, 0.03449210897088051, -0.03449246659874916], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.034292399883270264, -0.034292399883270264], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.10387565195560455, 0.013448420912027359, 0.35262712836265564], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7430512495338917e-07, 0.33019575476646423], "quat_xyzw": [0.7070738673210144, 0.7070741057395935, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.002506617456674576, 0.2704622149467468], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.0025087743997573853, 0.26895177364349365], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951631426811218]}}}, {"t": 12.662, "phase": "release", "bottle_xyz": [0.35572537779808044, 0.010203272104263306, 0.017731308937072754], "bottle_quat_xyzw": [-0.09475411474704742, 0.7075339555740356, -0.002968459390103817, 0.7002918124198914], "bottom_z": -0.0010978426230057042, "q": [2.2926425202740575e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2965544556209352e-05, -1.9137125661927712e-07, 0.03482211008667946, -0.03482242673635483], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03461722657084465, -0.03461722657084465], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.11969651281833649, -0.015146573074162006, 1.0882381200790405], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7452340368181467e-07, 0.3301957845687866], "quat_xyzw": [0.7070738673210144, 0.7070741653442383, 0.00681671965867281, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.002176620066165924, 0.2704622149467468], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951632022857666]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.0021788105368614197, 0.2689517140388489], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951632022857666]}}}, {"t": 12.682, "phase": "release", "bottle_xyz": [0.3558799922466278, 0.01022398378700018, 0.017949484288692474], "bottle_quat_xyzw": [-0.09509754180908203, 0.7099995613098145, -0.002970373025164008, 0.697745144367218], "bottom_z": -0.001003386792583695, "q": [2.444064861606421e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2982103726244532e-05, -2.0757580898589367e-07, 0.035137839615345, -0.035138119012117386], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03492720052599907, -0.03492720052599907], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.08932477235794067, -0.011440000496804714, 0.5781776905059814], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7465437091886997e-07, 0.3301957845687866], "quat_xyzw": [0.7070738673210144, 0.7070741653442383, 0.0068167163990437984, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.00186089426279068, 0.2704622149467468], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951632022857666]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.0018631145358085632, 0.2689517140388489], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951632022857666]}}}, {"t": 12.702000000000002, "phase": "release", "bottle_xyz": [0.3555734157562256, 0.010184922255575657, 0.017817921936511993], "bottle_quat_xyzw": [-0.0942765474319458, 0.7037754654884338, -0.003010328160598874, 0.7041328549385071], "bottom_z": -0.0008218856379749555, "q": [2.4178811841579773e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2975120625924319e-05, -2.283450584172897e-07, 0.035438768565654755, -0.035439010709524155], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.035221874713897705, -0.035221874713897705], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.012216862291097641, -0.0016349651850759983, 0.9206252694129944], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.747853381559253e-07, 0.3301957845687866], "quat_xyzw": [0.7070738673210144, 0.7070741653442383, 0.0068167126737535, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.0015599578619003296, 0.2704622149467468], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951632022857666]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.0015622228384017944, 0.2689517140388489], "quat_xyzw": [0.49515655636787415, 0.5047906041145325, 0.5047968626022339, -0.4951632022857666]}}}, {"t": 12.722000000000001, "phase": "release", "bottle_xyz": [0.35534632205963135, 0.010156198404729366, 0.018058432266116142], "bottle_quat_xyzw": [-0.09376799315214157, 0.6998788118362427, -0.00304046249948442, 0.7080734372138977], "bottom_z": -0.0005635822960940139, "q": [2.697890444380846e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2980674910068046e-05, -2.5314977847301634e-07, 0.035724375396966934, -0.03572460636496544], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03550080209970474, -0.03550080209970474], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.11913978308439255, 0.015377450734376907, 0.6430871486663818], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.749017534777522e-07, 0.3301957845687866], "quat_xyzw": [0.7070738077163696, 0.7070741653442383, 0.006816738285124302, 0.006807647179812193]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.001274343580007553, 0.2704622447490692], "quat_xyzw": [0.49515649676322937, 0.5047906637191772, 0.5047968029975891, -0.4951631724834442]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.0012766197323799133, 0.2689517140388489], "quat_xyzw": [0.49515649676322937, 0.5047906637191772, 0.5047968029975891, -0.4951631724834442]}}}, {"t": 12.742, "phase": "release", "bottle_xyz": [0.3555878698825836, 0.01018817164003849, 0.01779426634311676], "bottle_quat_xyzw": [-0.0944366604089737, 0.7047725915908813, -0.0030319292563945055, 0.7031131982803345], "bottom_z": -0.0008960407839175774, "q": [2.8660474882258313e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.296655409532832e-05, -3.333537392791186e-07, 0.03599411994218826, -0.03599436208605766], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03576352819800377, -0.03576352819800377], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.037297021597623825, -0.005000562872737646, 0.9405559301376343], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.742905730381608e-07, 0.3301957845687866], "quat_xyzw": [0.7070738077163696, 0.7070742249488831, 0.006816723849624395, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.0010045990347862244, 0.2704622447490692], "quat_xyzw": [0.49515649676322937, 0.5047906637191772, 0.5047968029975891, -0.495163232088089]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.0010068714618682861, 0.26895174384117126], "quat_xyzw": [0.49515649676322937, 0.5047906637191772, 0.5047968029975891, -0.495163232088089]}}}, {"t": 12.762, "phase": "release", "bottle_xyz": [0.3556738495826721, 0.010199995711445808, 0.017882090061903], "bottle_quat_xyzw": [-0.09463279694318771, 0.7061391472816467, -0.003038633381947875, 0.701714277267456], "bottom_z": -0.0008771868942904319, "q": [2.9597142514603547e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.297385369980475e-05, -3.381828150850197e-07, 0.03624749556183815, -0.036247748881578445], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03600960224866867, -0.03600960224866867], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.06441479176282883, -0.008525979705154896, 0.6771664619445801], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.743342287838459e-07, 0.3301957845687866], "quat_xyzw": [0.7070738077163696, 0.7070742249488831, 0.006816722918301821, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.0007512122392654419, 0.2704622447490692], "quat_xyzw": [0.49515649676322937, 0.5047906637191772, 0.5047968029975891, -0.495163232088089]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.0007534772157669067, 0.26895174384117126], "quat_xyzw": [0.49515649676322937, 0.5047906637191772, 0.5047968029975891, -0.495163232088089]}}}, {"t": 12.782000000000002, "phase": "release", "bottle_xyz": [0.3554942011833191, 0.01017739437520504, 0.017859816551208496], "bottle_quat_xyzw": [-0.09417058527469635, 0.7025912404060364, -0.003067638725042343, 0.7053283452987671], "bottom_z": -0.0007203045574152266, "q": [2.963490075558184e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2984222848899662e-05, -3.50506013546692e-07, 0.036483973264694214, -0.03648422658443451], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03623857721686363, -0.03623857721686363], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.035659756511449814, 0.0047097173519432545, 0.8823678493499756], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7439243644475937e-07, 0.3301957845687866], "quat_xyzw": [0.7070738077163696, 0.7070742249488831, 0.0068167210556566715, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.0005147382616996765, 0.2704622447490692], "quat_xyzw": [0.49515649676322937, 0.5047906637191772, 0.5047968029975891, -0.495163232088089]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.0005170032382011414, 0.2689517140388489], "quat_xyzw": [0.49515649676322937, 0.5047906637191772, 0.5047968029975891, -0.495163232088089]}}}, {"t": 12.802000000000001, "phase": "release", "bottle_xyz": [0.35546863079071045, 0.010174746625125408, 0.01792920008301735], "bottle_quat_xyzw": [-0.09415048360824585, 0.7023434638977051, -0.0030816819053143263, 0.7055776715278625], "bottom_z": -0.0006384286836609333, "q": [3.1211261131147694e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2979283383174334e-05, -3.677909035104676e-07, 0.03670303896069527, -0.03670329228043556], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03645000234246254, -0.03645000234246254], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.041770126670598984, 0.005712621845304966, 0.7125134468078613], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7452340368181467e-07, 0.3301957845687866], "quat_xyzw": [0.7070738077163696, 0.7070742249488831, 0.00681671779602766, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -0.0002956762909889221, 0.2704622447490692], "quat_xyzw": [0.49515649676322937, 0.5047906637191772, 0.5047968029975891, -0.495163232088089]}, "link_right_finger": {"xyz": [0.2691790759563446, 0.00029793381690979004, 0.2689517140388489], "quat_xyzw": [0.49515649676322937, 0.5047906637191772, 0.5047968029975891, -0.495163232088089]}}}, {"t": 12.822000000000001, "phase": "release", "bottle_xyz": [0.3555886745452881, 0.010190948843955994, 0.017833683639764786], "bottle_quat_xyzw": [-0.09447213262319565, 0.704651415348053, -0.00308349565602839, 0.7032297253608704], "bottom_z": -0.000850742204274342, "q": [3.266872283802513e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2973082448297646e-05, -3.839209625766671e-07, 0.03690417483448982, -0.03690442815423012], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03664342686533928, -0.03664342686533928], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.035733796656131744, -0.004935670178383589, 0.8306949138641357], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7462526708841324e-07, 0.3301957845687866], "quat_xyzw": [0.7070738077163696, 0.7070742249488831, 0.0068167150020599365, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, -9.453669190406799e-05, 0.2704622745513916], "quat_xyzw": [0.49515652656555176, 0.5047906637191772, 0.5047968029975891, -0.495163232088089]}, "link_right_finger": {"xyz": [0.2691790759563446, 9.679794311523438e-05, 0.2689517140388489], "quat_xyzw": [0.49515652656555176, 0.5047906637191772, 0.5047968029975891, -0.495163232088089]}}}, {"t": 12.842, "phase": "release", "bottle_xyz": [0.3555678129196167, 0.010188888758420944, 0.017866600304841995], "bottle_quat_xyzw": [-0.09441317617893219, 0.704117476940155, -0.00309848808683455, 0.7037721276283264], "bottom_z": -0.0007909146488466468, "q": [4.139244680345655e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3025848602410406e-05, -4.064528980052273e-07, 0.03708689659833908, -0.037087153643369675], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03681840002536774, -0.03681840002536774], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.020411193370819092, -0.0022355508990585804, 0.7647889256477356], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.783505573868752e-07, 0.330195814371109], "quat_xyzw": [0.7070738077163696, 0.7070742249488831, 0.0068167406134307384, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, 8.818879723548889e-05, 0.2704622745513916], "quat_xyzw": [0.49515649676322937, 0.5047906041145325, 0.5047968029975891, -0.49516329169273376]}, "link_right_finger": {"xyz": [0.2691790759563446, -8.592009544372559e-05, 0.26895174384117126], "quat_xyzw": [0.49515649676322937, 0.5047906041145325, 0.5047968029975891, -0.49516329169273376]}}}, {"t": 12.862, "phase": "release", "bottle_xyz": [0.3554888069629669, 0.01017929706722498, 0.017890596762299538], "bottle_quat_xyzw": [-0.09423006325960159, 0.7026607394218445, -0.003117083804681897, 0.7052509784698486], "bottom_z": -0.0006932757131496749, "q": [3.993501707100222e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3010729162488133e-05, -4.38381306366864e-07, 0.03725073114037514, -0.03725101053714752], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.0369744747877121, -0.0369744747877121], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.03064223751425743, 0.004086657427251339, 0.7885656356811523], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.784815246239305e-07, 0.3301957845687866], "quat_xyzw": [0.7070737481117249, 0.7070742249488831, 0.006816735025495291, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0002520233392715454, 0.2704622745513916], "quat_xyzw": [0.495156466960907, 0.5047906041145325, 0.5047968029975891, -0.49516329169273376]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0002497732639312744, 0.26895177364349365], "quat_xyzw": [0.495156466960907, 0.5047906041145325, 0.5047968029975891, -0.49516329169273376]}}}, {"t": 12.882000000000001, "phase": "release", "bottle_xyz": [0.35552743077278137, 0.010184947401285172, 0.01787022314965725], "bottle_quat_xyzw": [-0.09435460716485977, 0.7034978866577148, -0.003125488292425871, 0.7043992280960083], "bottom_z": -0.0007560788508102524, "q": [4.0907192300210227e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3010198017582297e-05, -4.5931724912406935e-07, 0.03739521652460098, -0.03739546984434128], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.037111200392246246, -0.037111200392246246], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0014094907091930509, 0.00014824052050244063, 0.7868242859840393], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.786124918609858e-07, 0.3301957845687866], "quat_xyzw": [0.7070737481117249, 0.7070742249488831, 0.006816731300204992, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0003965124487876892, 0.2704622745513916], "quat_xyzw": [0.495156466960907, 0.5047906041145325, 0.5047968029975891, -0.49516329169273376]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.00039424002170562744, 0.26895174384117126], "quat_xyzw": [0.495156466960907, 0.5047906041145325, 0.5047968029975891, -0.49516329169273376]}}}, {"t": 12.902000000000001, "phase": "release", "bottle_xyz": [0.3555651605129242, 0.010190457105636597, 0.017859356477856636], "bottle_quat_xyzw": [-0.09445720911026001, 0.7041715383529663, -0.0031344620510935783, 0.703711986541748], "bottom_z": -0.0008010593934792108, "q": [4.1139763595765544e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3008128917135764e-05, -4.84396309730073e-07, 0.03751989081501961, -0.03752007335424423], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03722812607884407, -0.03722812607884407], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.021841449663043022, -0.0026352491695433855, 0.7810675501823425], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.776520654559135e-07, 0.3301957845687866], "quat_xyzw": [0.7070737481117249, 0.7070742249488831, 0.006816756445914507, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.000521194189786911, 0.2704622745513916], "quat_xyzw": [0.4951564371585846, 0.5047906041145325, 0.5047968029975891, -0.49516329169273376]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0005188435316085815, 0.26895174384117126], "quat_xyzw": [0.4951564371585846, 0.5047906041145325, 0.5047968029975891, -0.49516329169273376]}}}, {"t": 12.922, "phase": "release", "bottle_xyz": [0.3555242121219635, 0.010185770690441132, 0.01787167601287365], "bottle_quat_xyzw": [-0.09436003118753433, 0.7033582925796509, -0.00314988661557436, 0.7045378088951111], "bottom_z": -0.0007476749146946085, "q": [3.364414169482188e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2943600268044975e-05, -5.905682769480336e-07, 0.03762369975447655, -0.037623852491378784], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.037324801087379456, -0.037324801087379456], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.003347646212205291, 0.000387466890970245, 0.7910916209220886], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7479989007115364e-07, 0.3301957845687866], "quat_xyzw": [0.7070736885070801, 0.7070742845535278, 0.006816737819463015, 0.006807647179812193]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0006249994039535522, 0.2704622745513916], "quat_xyzw": [0.4951564073562622, 0.504790723323822, 0.5047967433929443, -0.4951632618904114]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0006226375699043274, 0.2689517140388489], "quat_xyzw": [0.4951564073562622, 0.504790723323822, 0.5047967433929443, -0.4951632618904114]}}}, {"t": 12.942, "phase": "release", "bottle_xyz": [0.35551077127456665, 0.010184668004512787, 0.017881345003843307], "bottle_quat_xyzw": [-0.0943465381860733, 0.70316481590271, -0.003163006855174899, 0.7047325372695923], "bottom_z": -0.000728276203895116, "q": [3.7188350177075336e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2958225852344185e-05, -6.601877089451591e-07, 0.03770427778363228, -0.037704382091760635], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03740077465772629, -0.03740077465772629], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.012387352995574474, 0.00172340904828161, 0.7772828340530396], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.741596058011055e-07, 0.3301957845687866], "quat_xyzw": [0.7070736885070801, 0.7070743441581726, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0007055811583995819, 0.2704622745513916], "quat_xyzw": [0.4951564073562622, 0.504790723323822, 0.5047967433929443, -0.49516332149505615]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.000703170895576477, 0.2689517140388489], "quat_xyzw": [0.4951564073562622, 0.504790723323822, 0.5047967433929443, -0.49516332149505615]}}}, {"t": 12.962000000000002, "phase": "release", "bottle_xyz": [0.3555426001548767, 0.010189435444772243, 0.0178628358989954], "bottle_quat_xyzw": [-0.09444242715835571, 0.7037869095802307, -0.0031723922584205866, 0.7040984630584717], "bottom_z": -0.000778309056529411, "q": [3.901179113086073e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2950939890288282e-05, -6.993864758442214e-07, 0.03776009753346443, -0.037760112434625626], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03745559975504875, -0.03745559975504875], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.00854960735887289, -0.0010745793115347624, 0.7902166843414307], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.744215402752161e-07, 0.3301957845687866], "quat_xyzw": [0.7070736885070801, 0.7070743441581726, 0.006816718261688948, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0007613934576511383, 0.2704622745513916], "quat_xyzw": [0.4951564371585846, 0.504790723323822, 0.5047967433929443, -0.49516332149505615]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0007589012384414673, 0.2689517140388489], "quat_xyzw": [0.4951564371585846, 0.504790723323822, 0.5047967433929443, -0.49516332149505615]}}}, {"t": 12.982000000000001, "phase": "release", "bottle_xyz": [0.35553956031799316, 0.01018969714641571, 0.017867429181933403], "bottle_quat_xyzw": [-0.09444279223680496, 0.7036957740783691, -0.0031852503307163715, 0.7041894197463989], "bottom_z": -0.0007691661596196213, "q": [4.246726703627246e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2962052096554544e-05, -7.295293471543118e-07, 0.03779062256217003, -0.037790585309267044], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.037488825619220734, -0.037488825619220734], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.007388684432953596, -0.0009517194121144712, 0.7826369404792786], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.746398190036416e-07, 0.3301957845687866], "quat_xyzw": [0.7070736885070801, 0.7070743441581726, 0.0068167126737535, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0007919184863567352, 0.2704622745513916], "quat_xyzw": [0.4951564371585846, 0.504790723323822, 0.5047967433929443, -0.49516332149505615]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0007893741130828857, 0.2689517140388489], "quat_xyzw": [0.4951564371585846, 0.504790723323822, 0.5047967433929443, -0.49516332149505615]}}}, {"t": 13.002, "phase": "release", "bottle_xyz": [0.3555174469947815, 0.01018749363720417, 0.01787535287439823], "bottle_quat_xyzw": [-0.09440091997385025, 0.7032881379127502, -0.0031996758189052343, 0.704602062702179], "bottom_z": -0.0007406825531786967, "q": [4.354392046934663e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2965349924343172e-05, -7.407037969642261e-07, 0.03779619559645653, -0.03779616951942444], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.007619860582053661, 0.001049455488100648, 0.7851632237434387], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7471257857978344e-07, 0.3301957845687866], "quat_xyzw": [0.7070736885070801, 0.7070743441581726, 0.006816710811108351, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0007974840700626373, 0.2704622745513916], "quat_xyzw": [0.4951564371585846, 0.504790723323822, 0.5047967433929443, -0.49516332149505615]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0007949545979499817, 0.2689517140388489], "quat_xyzw": [0.4951564371585846, 0.504790723323822, 0.5047967433929443, -0.49516332149505615]}}}, {"t": 13.022, "phase": "after_release", "bottle_xyz": [0.35552650690078735, 0.010189334861934185, 0.0178709514439106], "bottle_quat_xyzw": [-0.09444136917591095, 0.7034962177276611, -0.0032111271284520626, 0.7043889164924622], "bottom_z": -0.000755666658708732, "q": [4.224782301776031e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2971774594916496e-05, -6.791397026972845e-07, 0.03777887299656868, -0.037778884172439575], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0009770477190613747, 6.37228140476509e-06, 0.7843615412712097], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7427602112293243e-07, 0.3301957845687866], "quat_xyzw": [0.7070736885070801, 0.7070743441581726, 0.006816721986979246, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0007801689207553864, 0.2704622745513916], "quat_xyzw": [0.4951564371585846, 0.504790723323822, 0.5047967433929443, -0.49516332149505615]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0007776692509651184, 0.2689517140388489], "quat_xyzw": [0.4951564371585846, 0.504790723323822, 0.5047967433929443, -0.49516332149505615]}}}, {"t": 13.042000000000002, "phase": "after_release", "bottle_xyz": [0.35553768277168274, 0.010191433131694794, 0.017866328358650208], "bottle_quat_xyzw": [-0.09448118507862091, 0.7036972641944885, -0.0032228881027549505, 0.7041825652122498], "bottom_z": -0.0007705194307690531, "q": [3.700384709759419e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2973892808076926e-05, -5.007639742871106e-07, 0.037745051085948944, -0.03774509206414223], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.006790155079215765, -0.0006132961716502905, 0.7852873802185059], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.742032615467906e-07, 0.3301957845687866], "quat_xyzw": [0.7070737481117249, 0.7070742249488831, 0.006816723849624395, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0007463283836841583, 0.2704622745513916], "quat_xyzw": [0.49515652656555176, 0.504790723323822, 0.5047968029975891, -0.49516329169273376]}, "link_right_finger": {"xyz": [0.2691790461540222, -0.0007438585162162781, 0.2689517140388489], "quat_xyzw": [0.49515652656555176, 0.504790723323822, 0.5047968029975891, -0.49516329169273376]}}}, {"t": 13.062000000000001, "phase": "after_release", "bottle_xyz": [0.3555263876914978, 0.010190654546022415, 0.017871063202619553], "bottle_quat_xyzw": [-0.09446465969085693, 0.7034763693809509, -0.0032368528191000223, 0.7044053673744202], "bottom_z": -0.000754673745096645, "q": [2.7549880599053722e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2996096302231308e-05, -1.8179622429670417e-07, 0.03770143538713455, -0.03770149126648903], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.003324986668303609, 0.0003889774379786104, 0.7851034998893738], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.780449671670794e-07, 0.330195814371109], "quat_xyzw": [0.7070738673210144, 0.7070741653442383, 0.006816750857979059, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475644886493683, 0.0007027275860309601, 0.2704622745513916], "quat_xyzw": [0.49515652656555176, 0.5047905445098877, 0.5047968626022339, -0.4951632618904114]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.000700242817401886, 0.26895174384117126], "quat_xyzw": [0.49515652656555176, 0.5047905445098877, 0.5047968626022339, -0.4951632618904114]}}}, {"t": 13.082, "phase": "after_release", "bottle_xyz": [0.35552170872688293, 0.010190761648118496, 0.01787281036376953], "bottle_quat_xyzw": [-0.09446943551301956, 0.7034116387367249, -0.003250503446906805, 0.7044693827629089], "bottom_z": -0.0007497120297380033, "q": [2.8350722658387895e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.304150737269083e-05, 1.0900596691953979e-07, 0.03765379637479782, -0.03765386715531349], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.003708141390234232, 0.000469619786599651, 0.7840478420257568], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.784524207934737e-07, 0.330195814371109], "quat_xyzw": [0.707073986530304, 0.7070740461349487, 0.006816743407398462, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0006550811231136322, 0.2704622745513916], "quat_xyzw": [0.4951566159725189, 0.5047904849052429, 0.5047969222068787, -0.4951631724834442]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0006526187062263489, 0.2689517140388489], "quat_xyzw": [0.4951566159725189, 0.5047904849052429, 0.5047969222068787, -0.4951631724834442]}}}, {"t": 13.102, "phase": "after_release", "bottle_xyz": [0.3555302619934082, 0.010192584246397018, 0.017868522554636], "bottle_quat_xyzw": [-0.09450654685497284, 0.703584611415863, -0.003263327293097973, 0.704291582107544], "bottom_z": -0.0007628134637995658, "q": [2.8461158763093408e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3092333574604709e-05, 3.292423116363352e-07, 0.037606801837682724, -0.037606872618198395], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.0032361254561692476, -0.000585392233915627, 0.7852796316146851], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.504797101020813, -0.4951566755771637, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.828325472772121e-07, 0.3301957845687866], "quat_xyzw": [0.7070740461349487, 0.707073986530304, 0.006816824898123741, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0006080828607082367, 0.2704622447490692], "quat_xyzw": [0.4951566159725189, 0.5047904253005981, 0.5047970414161682, -0.49516311287879944]}, "link_right_finger": {"xyz": [0.269179105758667, -0.0006055943667888641, 0.2689517140388489], "quat_xyzw": [0.4951566159725189, 0.5047904253005981, 0.5047970414161682, -0.49516311287879944]}}}, {"t": 13.122000000000002, "phase": "after_release", "bottle_xyz": [0.3555294871330261, 0.010193229652941227, 0.0178691353648901], "bottle_quat_xyzw": [-0.09451810270547867, 0.7035636305809021, -0.003277525771409273, 0.7043108940124512], "bottom_z": -0.0007612065292611526, "q": [1.886197509293197e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3071602552372497e-05, 5.663475235451187e-07, 0.03756392002105713, -0.0375639908015728], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.0014851304003968835, -0.00042234951979480684, 0.7847508192062378], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.504797101020813, -0.4951566755771637, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.835455911234021e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816807668656111, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005651935935020447, 0.2704622447490692], "quat_xyzw": [0.4951566457748413, 0.5047903656959534, 0.504797101020813, -0.49516305327415466]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0005627050995826721, 0.2689517140388489], "quat_xyzw": [0.4951566457748413, 0.5047903656959534, 0.504797101020813, -0.49516305327415466]}}}, {"t": 13.142000000000001, "phase": "after_release", "bottle_xyz": [0.35552290081977844, 0.010193116031587124, 0.01787162944674492], "bottle_quat_xyzw": [-0.09451690316200256, 0.7034478783607483, -0.003292194101959467, 0.704426646232605], "bottom_z": -0.0007529222964591034, "q": [1.0956322071820068e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3064907761872746e-05, 6.796000207032193e-07, 0.03752738982439041, -0.03752746060490608], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0034946908708661795, 0.0002303886431036517, 0.7847314476966858], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.504797101020813, -0.4951566755771637, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.839821485802531e-07, 0.3301957845687866], "quat_xyzw": [0.7070741653442383, 0.7070738673210144, 0.006816797889769077, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005286559462547302, 0.2704622447490692], "quat_xyzw": [0.4951567053794861, 0.5047903656959534, 0.504797101020813, -0.49516305327415466]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0005261749029159546, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047903656959534, 0.504797101020813, -0.49516305327415466]}}}, {"t": 13.162, "phase": "after_release", "bottle_xyz": [0.35552480816841125, 0.01019406970590353, 0.017870420590043068], "bottle_quat_xyzw": [-0.09453782439231873, 0.7035006284713745, -0.003305645426735282, 0.7043710350990295], "bottom_z": -0.000756864609101425, "q": [-1.9670535422733337e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.294873254664708e-05, 7.47161948311259e-07, 0.03749828785657883, -0.0374983549118042], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-7.4640272941906e-05, -0.0005873161135241389, 0.7846706509590149], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.741159500554204e-07, 0.3301957845687866], "quat_xyzw": [0.7070741653442383, 0.7070738673210144, 0.006816737819463015, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004995353519916534, 0.2704622745513916], "quat_xyzw": [0.49515673518180847, 0.5047904253005981, 0.504797101020813, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.000497087836265564, 0.2689517140388489], "quat_xyzw": [0.49515673518180847, 0.5047904253005981, 0.504797101020813, -0.4951629936695099]}}}, {"t": 13.182, "phase": "after_release", "bottle_xyz": [0.3555275797843933, 0.010195108130574226, 0.017869075760245323], "bottle_quat_xyzw": [-0.09455825388431549, 0.7035579085350037, -0.0033179717138409615, 0.7043110728263855], "bottom_z": -0.0007611639135089443, "q": [-1.7869394852709775e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2959878404217307e-05, 8.081497639977897e-07, 0.03747646510601044, -0.037476520985364914], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.0016260016709566116, -0.0006736797513440251, 0.7849458456039429], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.748580977320671e-07, 0.3301957845687866], "quat_xyzw": [0.7070742249488831, 0.7070738077163696, 0.006816719193011522, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.00047770142555236816, 0.2704622745513916], "quat_xyzw": [0.49515679478645325, 0.5047903656959534, 0.504797101020813, -0.4951629340648651]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004752427339553833, 0.2689517140388489], "quat_xyzw": [0.49515679478645325, 0.5047903656959534, 0.504797101020813, -0.4951629340648651]}}}, {"t": 13.202000000000002, "phase": "after_release", "bottle_xyz": [0.3555239737033844, 0.010195284150540829, 0.017870422452688217], "bottle_quat_xyzw": [-0.09456264227628708, 0.7034968137741089, -0.0033307592384517193, 0.704371452331543], "bottom_z": -0.0007567847788732054, "q": [-1.6171973982181953e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2965836504008621e-05, 8.142926617438206e-07, 0.0374612957239151, -0.03746131435036659], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.00015648997214157134, 5.627084829029627e-05, 0.7847931981086731], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.748289939016104e-07, 0.3301957845687866], "quat_xyzw": [0.7070742249488831, 0.7070738077163696, 0.006816720124334097, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004625394940376282, 0.2704622745513916], "quat_xyzw": [0.49515679478645325, 0.5047903656959534, 0.504797101020813, -0.4951629340648651]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004600435495376587, 0.2689517140388489], "quat_xyzw": [0.49515679478645325, 0.5047903656959534, 0.504797101020813, -0.4951629340648651]}}}, {"t": 13.222000000000001, "phase": "after_release", "bottle_xyz": [0.35552212595939636, 0.010195699520409107, 0.01787092722952366], "bottle_quat_xyzw": [-0.0945720374584198, 0.7034735679626465, -0.0033431537449359894, 0.7043933272361755], "bottom_z": -0.0007551623225015708, "q": [-1.389972403842421e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2972291187907103e-05, 8.030757499000174e-07, 0.037451934069395065, -0.03745192289352417], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0019063283689320087, 0.0001435719896107912, 0.7847244143486023], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7488720156252384e-07, 0.3301957845687866], "quat_xyzw": [0.7070742249488831, 0.7070738077163696, 0.006816718261688948, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.00045318156480789185, 0.2704622745513916], "quat_xyzw": [0.49515679478645325, 0.5047903656959534, 0.504797101020813, -0.4951629340648651]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.00045064836740493774, 0.2689517140388489], "quat_xyzw": [0.49515679478645325, 0.5047903656959534, 0.504797101020813, -0.4951629340648651]}}}, {"t": 13.242, "phase": "after_release", "bottle_xyz": [0.35552412271499634, 0.010196627117693424, 0.017869777977466583], "bottle_quat_xyzw": [-0.09459162503480911, 0.7035213708877563, -0.0033557245042175055, 0.7043428421020508], "bottom_z": -0.0007587915770773078, "q": [-1.2497925361287798e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2973087905265857e-05, 7.789226401655469e-07, 0.03744741529226303, -0.03744738921523094], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.0011081612901762128, 0.00011308147077215835, 0.7848580479621887], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.750472726300359e-07, 0.3301957845687866], "quat_xyzw": [0.7070742249488831, 0.7070738077163696, 0.006816714070737362, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004486590623855591, 0.2704622745513916], "quat_xyzw": [0.49515679478645325, 0.5047903656959534, 0.504797101020813, -0.4951629340648651]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.00044611096382141113, 0.2689517140388489], "quat_xyzw": [0.49515679478645325, 0.5047903656959534, 0.504797101020813, -0.4951629340648651]}}}, {"t": 13.262, "phase": "after_release", "bottle_xyz": [0.35552385449409485, 0.010197238996624947, 0.017869824543595314], "bottle_quat_xyzw": [-0.09460335224866867, 0.7035180926322937, -0.003367729252204299, 0.7043445110321045], "bottom_z": -0.000758634470011673, "q": [-1.0832945207539524e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2965073437953833e-05, 7.202486358437454e-07, 0.0374467670917511, -0.03744674101471901], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.0013627734733745456, -3.230308720958419e-05, 0.7850152850151062], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.742905730381608e-07, 0.3301957845687866], "quat_xyzw": [0.7070741653442383, 0.7070738673210144, 0.0068167331628501415, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.00044801831245422363, 0.2704622745513916], "quat_xyzw": [0.49515676498413086, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004454776644706726, 0.2689516842365265], "quat_xyzw": [0.49515676498413086, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.282000000000002, "phase": "after_release", "bottle_xyz": [0.3555215299129486, 0.010197529569268227, 0.01787056401371956], "bottle_quat_xyzw": [-0.09461010247468948, 0.7034831643104553, -0.003379115602001548, 0.7043784260749817], "bottom_z": -0.0007561811621493129, "q": [-8.988974009582762e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.29692625705502e-05, 6.911290029165684e-07, 0.03744906932115555, -0.03744907304644585], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0007568346336483955, 4.5324686652747914e-05, 0.7848474383354187], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7447974793612957e-07, 0.3301957845687866], "quat_xyzw": [0.7070741653442383, 0.7070738673210144, 0.006816728040575981, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004503205418586731, 0.2704622745513916], "quat_xyzw": [0.49515676498413086, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.00044780969619750977, 0.2689516842365265], "quat_xyzw": [0.49515676498413086, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.302000000000001, "phase": "after_release", "bottle_xyz": [0.3555218279361725, 0.010197789408266544, 0.01787032000720501], "bottle_quat_xyzw": [-0.09461607038974762, 0.703494668006897, -0.0033833025954663754, 0.7043662071228027], "bottom_z": -0.000757025201363986, "q": [-8.034097831455256e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2968810551683418e-05, 6.591424721591466e-07, 0.037453483790159225, -0.03745352476835251], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [-0.005777875427156687, -0.0005081790732219815, 0.7847659587860107], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7469802666455507e-07, 0.3301957845687866], "quat_xyzw": [0.7070741653442383, 0.7070738673210144, 0.0068167224526405334, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.000454731285572052, 0.2704622745513916], "quat_xyzw": [0.49515676498413086, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004522576928138733, 0.2689516842365265], "quat_xyzw": [0.49515676498413086, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.322000000000001, "phase": "after_release", "bottle_xyz": [0.3555222153663635, 0.010197965428233147, 0.017869962379336357], "bottle_quat_xyzw": [-0.09462017565965652, 0.7035097479820251, -0.0033852430060505867, 0.704350471496582], "bottom_z": -0.0007581580304657602, "q": [-6.725373591365269e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2969464478373993e-05, 6.246417569855112e-07, 0.03745925426483154, -0.03745933249592781], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.0002179100993089378, 0.7847980260848999], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.749454092234373e-07, 0.3301957845687866], "quat_xyzw": [0.7070741653442383, 0.7070738673210144, 0.006816715933382511, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.00046050548553466797, 0.2704622745513916], "quat_xyzw": [0.49515676498413086, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.00045806169509887695, 0.2689516842365265], "quat_xyzw": [0.49515676498413086, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.342, "phase": "after_release", "bottle_xyz": [0.3555220663547516, 0.010197936557233334, 0.01787002570927143], "bottle_quat_xyzw": [-0.09461977332830429, 0.7035071849822998, -0.0033851845655590296, 0.7043531537055969], "bottom_z": -0.000757963106282216, "q": [-6.5218825895385635e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2971782780368812e-05, 5.944909275967802e-07, 0.037465743720531464, -0.037465885281562805], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.00038960587698966265, -0.00014969064795877784, 0.7847250699996948], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7282082960009575e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.0068167406134307384, 0.0068075875751674175]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004669800400733948, 0.2704622745513916], "quat_xyzw": [0.49515676498413086, 0.5047904253005981, 0.504797101020813, -0.49516308307647705]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.000464610755443573, 0.2689517140388489], "quat_xyzw": [0.49515676498413086, 0.5047904253005981, 0.504797101020813, -0.49516308307647705]}}}, {"t": 13.362, "phase": "after_release", "bottle_xyz": [0.355521023273468, 0.01019776239991188, 0.017870238050818443], "bottle_quat_xyzw": [-0.0946175679564476, 0.703497052192688, -0.0033844062127172947, 0.7043635845184326], "bottom_z": -0.0007572340881755769, "q": [-5.601703101376643e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2968102055310737e-05, 5.49364870039426e-07, 0.0374724455177784, -0.03747262433171272], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.00022513359726872295, -9.307370419264771e-06, 0.7848135232925415], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.742469172924757e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816732697188854, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004736855626106262, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.000471360981464386, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.382000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-3.979649498830895e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2965552741661668e-05, 5.273185479381937e-07, 0.03747890889644623, -0.03747912496328354], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7440698835998774e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.0068167285062372684, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004801526665687561, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.00047785788774490356, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.402000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-2.917584618344904e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974091077921912e-05, 5.094206585454231e-07, 0.03748489171266556, -0.03748508170247078], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.00048613548278808594, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004838109016418457, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.422, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.549668393607817e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2975178833585232e-05, 4.859863338424475e-07, 0.03749014437198639, -0.037490297108888626], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7469802666455507e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070739269256592, 0.0068167210556566715, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004913955926895142, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004890337586402893, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}}}, {"t": 13.442, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-8.417820329675862e-10, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2976041034562513e-05, 4.770159307554422e-07, 0.03749465197324753, -0.03749476745724678], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7475623432546854e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070739269256592, 0.00681671965867281, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004959031939506531, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004935041069984436, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}}}, {"t": 13.462000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [2.5339322307083023e-10, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2976563084521331e-05, 4.7303743144766486e-07, 0.037498414516448975, -0.03749849274754524], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.747853381559253e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070739269256592, 0.006816718727350235, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004996582865715027, 0.2704622745513916], "quat_xyzw": [0.49515673518180847, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004972368478775024, 0.2689517140388489], "quat_xyzw": [0.49515673518180847, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}}}, {"t": 13.482000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [6.884275371987769e-10, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2978598533663899e-05, 4.681127734329493e-07, 0.03750143200159073, -0.03750147297978401], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.748289939016104e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070739269256592, 0.00681671779602766, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005026832222938538, 0.2704622745513916], "quat_xyzw": [0.49515673518180847, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.000500209629535675, 0.2689517140388489], "quat_xyzw": [0.49515673518180847, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}}}, {"t": 13.502, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [1.1686678291766839e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.298062579735415e-05, 4.6554058030778833e-07, 0.03750370442867279, -0.03750370815396309], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7484354581683874e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070739269256592, 0.006816717330366373, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005049481987953186, 0.2704622745513916], "quat_xyzw": [0.49515673518180847, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0005024522542953491, 0.2689517140388489], "quat_xyzw": [0.49515673518180847, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}}}, {"t": 13.522, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [1.697137985701147e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2982824955543038e-05, 4.6516123575202073e-07, 0.03750523179769516, -0.037505198270082474], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7484354581683874e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070739269256592, 0.006816717330366373, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.000506475567817688, 0.2704622745513916], "quat_xyzw": [0.49515673518180847, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.000503934919834137, 0.2689517140388489], "quat_xyzw": [0.49515673518180847, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}}}, {"t": 13.542000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [1.402757576762781e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.29808049678104e-05, 4.67565058670516e-07, 0.03750605136156082, -0.037505995482206345], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.748289939016104e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070739269256592, 0.00681671779602766, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005072951316833496, 0.2704622745513916], "quat_xyzw": [0.49515673518180847, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0005047321319580078, 0.2689517140388489], "quat_xyzw": [0.49515673518180847, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}}}, {"t": 13.562000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [2.512870356241592e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2987954505661037e-05, 4.70746556402446e-07, 0.037506405264139175, -0.0375063493847847], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7479989007115364e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070739269256592, 0.006816718261688948, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.000507652759552002, 0.2704622745513916], "quat_xyzw": [0.49515673518180847, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0005050897598266602, 0.2689517140388489], "quat_xyzw": [0.49515673518180847, 0.5047904253005981, 0.5047970414161682, -0.4951630234718323]}}}, {"t": 13.582, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [1.607311261864197e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3029946785536595e-05, 3.968272039855947e-07, 0.037506360560655594, -0.03750630468130112], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.788162186741829e-07, 0.3301957845687866], "quat_xyzw": [0.7070740461349487, 0.7070739269256592, 0.006816735025495291, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005076341331005096, 0.2704622745513916], "quat_xyzw": [0.4951566755771637, 0.5047904253005981, 0.5047969818115234, -0.49516308307647705]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0005050450563430786, 0.26895174384117126], "quat_xyzw": [0.4951566755771637, 0.5047904253005981, 0.5047969818115234, -0.49516308307647705]}}}, {"t": 13.602, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [1.3709565038766414e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.302460441365838e-05, 4.173406864538265e-07, 0.03750593215227127, -0.037505876272916794], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.786852514371276e-07, 0.3301957845687866], "quat_xyzw": [0.7070740461349487, 0.7070739269256592, 0.006816738750785589, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005072019994258881, 0.2704622745513916], "quat_xyzw": [0.4951566755771637, 0.5047904253005981, 0.5047969818115234, -0.49516308307647705]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.000504620373249054, 0.26895174384117126], "quat_xyzw": [0.4951566755771637, 0.5047904253005981, 0.5047969818115234, -0.49516308307647705]}}}, {"t": 13.622000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [1.1142813782782923e-08, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.301769952988252e-05, 4.55479010952331e-07, 0.03750527277588844, -0.037505216896533966], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.784669727087021e-07, 0.330195814371109], "quat_xyzw": [0.7070741057395935, 0.7070739269256592, 0.006816745735704899, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005065314471721649, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.49516308307647705]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0005039423704147339, 0.26895174384117126], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.49516308307647705]}}}, {"t": 13.642000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [8.977414367450365e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3012558156333398e-05, 4.6861731561875786e-07, 0.03750460222363472, -0.03750454634428024], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.783796612173319e-07, 0.330195814371109], "quat_xyzw": [0.7070741057395935, 0.7070739269256592, 0.006816748064011335, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005058534443378448, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.49516308307647705]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0005032718181610107, 0.26895174384117126], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.49516308307647705]}}}, {"t": 13.662, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [6.52272191814518e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3002832019992638e-05, 4.782666565006366e-07, 0.037503931671381, -0.03750387579202652], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.783214535564184e-07, 0.330195814371109], "quat_xyzw": [0.7070741057395935, 0.7070739269256592, 0.006816749460995197, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005051903426647186, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.49516308307647705]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0005025938153266907, 0.26895174384117126], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.49516308307647705]}}}, {"t": 13.682, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [7.561490988905462e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3012128874834161e-05, 4.857175781580736e-07, 0.037503261119127274, -0.0375032052397728], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.782777978107333e-07, 0.330195814371109], "quat_xyzw": [0.7070741057395935, 0.7070739269256592, 0.006816750857979059, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005045123398303986, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.49516308307647705]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0005019307136535645, 0.26895174384117126], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.49516308307647705]}}}, {"t": 13.702000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [6.550994857690284e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.3008462701691315e-05, 4.912718623018009e-07, 0.03750259056687355, -0.037502534687519073], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904253005981, 0.5047970414161682, -0.4951567053794861, -0.49516308307647705]}, "link_6": {"xyz": [0.3072061538696289, 4.782341420650482e-07, 0.330195814371109], "quat_xyzw": [0.7070741057395935, 0.7070739269256592, 0.006816751789301634, 0.00680754566565156]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005038492381572723, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.49516308307647705]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0005012527108192444, 0.26895174384117126], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.49516308307647705]}}}, {"t": 13.722000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-7.081684127996368e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2967358088644687e-05, 5.465379331326403e-07, 0.03750192001461983, -0.03750186413526535], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.742905730381608e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.00681673176586628, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005031675100326538, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0005005970597267151, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.742, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-5.025066140973422e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2969330782652833e-05, 5.346548732632073e-07, 0.037501249462366104, -0.03750119358301163], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7436333261430264e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.00681672990322113, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005024969577789307, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004999265074729919, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.762, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-3.574823548291306e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2971556316188071e-05, 5.259328759166237e-07, 0.03750059753656387, -0.037500541657209396], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7440698835998774e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.0068167285062372684, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005018487572669983, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004992783069610596, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.782000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-3.850189056464615e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.296736991207581e-05, 5.20566629802488e-07, 0.037499990314245224, -0.037499938160181046], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7445064410567284e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816727574914694, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0005012378096580505, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004986748099327087, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.802000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-2.6421451693181552e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974051060155034e-05, 5.171486350263876e-07, 0.037499453872442245, -0.03749939426779747], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7447974793612957e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816726643592119, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.000500701367855072, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004981309175491333, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.822000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.5230415817413245e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.297784547205083e-05, 5.15516603627475e-07, 0.037498969584703445, -0.03749896585941315], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7447974793612957e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816726643592119, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.000500217080116272, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004976987838745117, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.842, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-2.5882027632206928e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.29705449580797e-05, 5.136648724146653e-07, 0.0374986007809639, -0.037498634308576584], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.745088517665863e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816726177930832, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004998520016670227, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004973709583282471, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.862, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.759274281809553e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2980397514184006e-05, 5.123116579852649e-07, 0.03749838471412659, -0.037498366087675095], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7452340368181467e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725712269545, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004996359348297119, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004971027374267578, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.882000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.0282185103349661e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.298110237257788e-05, 5.117043997415749e-07, 0.037498198449611664, -0.03749814257025719], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7452340368181467e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725712269545, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004994422197341919, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004968792200088501, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.902000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-7.552181102710165e-12, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2984512977709528e-05, 5.112460144118813e-07, 0.037498023360967636, -0.03749799355864525], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7452340368181467e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725712269545, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004992634057998657, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004967302083969116, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.922, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.0228498048547863e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2977243386558257e-05, 5.106434173285379e-07, 0.03749791160225868, -0.03749791905283928], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7452340368181467e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725712269545, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004991590976715088, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004966557025909424, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.942, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.1033389757386658e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2976684956811368e-05, 5.102967861603247e-07, 0.03749779984354973, -0.03749784454703331], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7452340368181467e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725712269545, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004990473389625549, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004965811967849731, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.962000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-4.345818704898363e-10, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2980858627997804e-05, 5.100092721477267e-07, 0.037497736513614655, -0.03749777004122734], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989877343177795, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004965066909790039, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 13.982000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-9.069361928126796e-11, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.298240567848552e-05, 5.099140594211349e-07, 0.03749769926071167, -0.03749769553542137], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.000498943030834198, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004964321851730347, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [2.5682500570667344e-10, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2983715350856073e-05, 5.099014970255666e-07, 0.037497662007808685, -0.0374976210296154], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963651299476624, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.022, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.042000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.062000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.082, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.102, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.122000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.142000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.162, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.182, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.202000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.222000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.242, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.262, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.282000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.302000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.322000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.342, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.362, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.382000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.402000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.422, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.442, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.462000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.482000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.502, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.522, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.542000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.562000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.582, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.602, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.622000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.642000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.662, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.682, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.702000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.722000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.742, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.762, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.782000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.802000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.822000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.842, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.862, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.882000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.902000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.922, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.942, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.962000000000002, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}, {"t": 14.982000000000001, "phase": "after_release", "bottle_xyz": [0.3555205762386322, 0.010197683237493038, 0.017870333045721054], "bottle_quat_xyzw": [-0.09461711347103119, 0.7034933567047119, -0.003384427633136511, 0.7043672800064087], "bottom_z": -0.0007569538134087929, "q": [-1.3299145118494948e-09, 1.7279057502746582, 1.7472466230392456, -1.5708692073822021, -1.2974081982974894e-05, 5.093361892249959e-07, 0.03749765828251839, -0.037497617304325104], "target": [-2.5838289841040307e-10, 1.7257726192474365, 1.7496830224990845, -1.5707999467849731, -5.132145264319377e-10, -2.639707064044927e-10, 0.03750000149011612, -0.03750000149011612], "finger_forces": {"link_left_finger": [0.0, 0.0, 0.0], "link_right_finger": [0.0, 0.0, 0.0]}, "ground_force": [0.0, -0.00017405243124812841, 0.7847731709480286], "links": {"arm": {"xyz": [0.0, 0.0, 0.009999999776482582], "quat_xyzw": [0.0, 0.0, 0.0, 1.0]}, "link_1": {"xyz": [0.0, 0.0, 0.0731000006198883], "quat_xyzw": [0.0, 0.0, 0.7071068286895752, 0.7071068286895752]}, "link_2": {"xyz": [0.020000001415610313, 2.5002285838127136e-05, 0.11400000005960464], "quat_xyzw": [0.537695050239563, 0.45922112464904785, 0.45922112464904785, -0.537695050239563]}, "link_3": {"xyz": [0.06130645424127579, 2.5002285838127136e-05, 0.37474849820137024], "quat_xyzw": [0.006837888155132532, 0.7070737481117249, -0.7070737481117249, 0.006837943568825722]}, "link_4": {"xyz": [0.30510029196739197, 2.502836287021637e-05, 0.43947550654411316], "quat_xyzw": [-0.49515989422798157, 0.5047937035560608, -0.5047937631607056, -0.4951598644256592]}, "link_5": {"xyz": [0.3460187017917633, 3.166496753692627e-08, 0.36625027656555176], "quat_xyzw": [0.5047904849052429, 0.5047970414161682, -0.49515673518180847, -0.49516305327415466]}, "link_6": {"xyz": [0.3072061538696289, 4.7453795559704304e-07, 0.3301957845687866], "quat_xyzw": [0.7070741057395935, 0.7070738673210144, 0.006816725246608257, 0.006807617377489805]}, "link_left_finger": {"xyz": [0.3475645184516907, 0.0004989057779312134, 0.2704622745513916], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}, "link_right_finger": {"xyz": [0.2691790759563446, -0.0004963502287864685, 0.2689517140388489], "quat_xyzw": [0.4951567053794861, 0.5047904253005981, 0.5047970414161682, -0.4951629936695099]}}}]
